基于蚁群算法的倒立摆系统PID控制器设计

Design of inverted pendulum PID controller based on ant colony algorithm

蚁群算法,在优化参数方面,有更快地收敛速度以及易与其他方法融合的特性。该文采用蚁群算法优化PID的方法,进而选出理想的控制参数。为了验证该设计的可行性,以一级倒立摆系统为研究对象,与用Z-N法设计的控制器进行仿真比较。结果表明:经过蚁群算法优化后的控制系统与Z-N法优化后的系统相比,前者超调量明显减小,鲁棒性较好,同时调整时间也有所改善。

Ant colony algorithm,in terms of optimizing parameters,has a faster convergence speed and features that are easy to integrate with other methods. This paper adopts ant colony algorithm to optimize PID method,and then selects ideal control parameters. In order to verify the feasibility of this design,a simulation comparison was conducted with the controller based on the Z-N method. The results show that the optimized system of ant colony algorithm is significantly less than that of Z-N method,which is better than that of Z-N method,and the adjustment time is improved.