有约束复杂随动系统模型建立与控制研究

Research on Establishment and Control of a Constrained Complex Dynamic System Model

提出了一种有约束复杂随动系统——小碗摆球系统,并以小碗摆球系统为研究对象,针对有约束复杂随动系统的控制策略进行研究;利用拉格朗日动力学方法建立了小碗摆球系统的动力学模型。在讨论了系统能控和能观性的基础上分别采用鲁棒性双闭环PID控制和基于遗传算法的线性二次型最优控制进行了实际系统控制效果的实验对比,对比结果表明鲁棒性双闭环PID控制器具有更好的鲁棒性和瞬态特性,而遗传算法优化的线性二次型控制具有更好的动态特性。

A new constrained complex follow-up system-cup and ball pendulum system is proposed. To study control strategy of constrained dynamic system, this cup and ball pendulum system was chosen as study object. The system was modeled by Lagrange dynamics method. Controllability and observability of the system were studied firstly. Robust double closed-loop PID control and linear quadratic regulator optimal control based on genetic algorithm were used to achieve the experiment comparison. The comparative analysis results showed that robust double closed loop PID controller was of better robustness and transient characteristics, and linear quadratic regulator optimal controller based on genetic algorithm was of better dynamic characteristics.