摘要
设计基于遗传算法的自适应PID控制器,建立球杆系统机械部分模型、角度模型和电机模型,得到整个球杆系统的数学模型;通过在线整定控制器参数,提高球杆系统的控制性能。仿真实验结果证明了自适应遗传PID控制效果良好,适应能力较强,具有算法简单、参数整定容易等。
Based on genetic algorithm, an adaptive PID controller is designed. Establish the machine model, angle model and engine model of ball ＆ beam system to acquire the mathematic model of the ball ＆ beam system, and improve the system＇s control abilities by online controller parameter ruling. Simulation results show that the adaptive genetic PID control has good control performance and adaptive abilities, while its algorithm is simple and parameter ruling is easy.
出处
《兵工自动化》
2008年第7期54-57,共4页
Ordnance Industry Automation
基金
教育部留学人员科研启动基金(20070102)
吉林省杰出青年基金(20060125)
