摘要
为解决球杆系统动态、静态性能不高的问题,提出了遗传算法优化自适应模糊PID控制器的控制方法。该模型在拉格朗日方程建立球杆系统数学模型的基础上,采用遗传算法优化模糊控制规则、隶属函数和自适应PID参数。在GBBl004系统中建立了遗传算法优化后的自适应模糊PID控制器以及控制模型,并对该控制器进行实验验证。实验结果证明了遗传算法优化后的模糊控制器有效地减小了系统的超调量,缩短了系统的调节时间,能够较好地控制球杆系统。
In order to solve the less dynamic and static performance of ball-beam system,a genetic algorithm（GA） based on improved fuzzy adaptive PID controller is proposed.A mathematical model of the ball-beam system based on Lagrange function is put forward.Fuzzy control rules,membership functions and adaptive PID parameters are optimized based on GA.The optimal fuzzy adaptive PID controller and the control model based on GA are built based on GBB1004 ball-beam system and verified through experiment.The experimental results show that the optimal fuzzy controller based on GA can effectively reduce the overshoot of the system,shorten the setting time of the system,and better control the ball and beam system.
出处
《测控技术》
CSCD
2015年第11期74-78,共5页
Measurement & Control Technology
基金
重庆市应用开发计划项目(cstc2014yykfA80012)
重庆市教委自然科学基金项目(KJ131416
KJ133501)
关键词
球杆系统
模糊PID控制
遗传算法
隶属度优化
PID参数优化
ball and beam system
fuzzy PID control
genetic algorithm
membership function optimization
PID parameter optimization
