基于遗传算法的倒立摆系统模糊九点控制器参数优化

Parameter Optimization of the Fuzzy Nine-Point Controller for Inverted Pendulum System Based on Genetic Algorithm

利用改进的遗传算法,对模糊九点控制器的参数进行优化,以优化的参数为基准,对其微调后在一级倒立摆上进行实时控制.实验表明优化后的参数能够使摆杆快速稳定,小车震荡幅值小,系统的控制效果好.

Each parameter of the fuzzy nine‐point controller is based on control experience .Manual adjust‐ment of the controller to get these nine parameters is complicate and inefficient ,and the control accuracy is limited .Genetic algorithm is wonderful in processing and optimizing abundant data .In this paper ,an im‐proved genetic algorithm is used to optimize the nine‐point controller parameters ,w hich are then adjusted slightly to control the inverted pendulum .The real‐time control experiment shows that with the optimized parameters the pendulum will be stabilized faster with a smaller displacement‐amplitude for the cart ,thus the w hole system has a better control effect .