基于直线倒立摆的控制器设计与分析

Design and Analysis of Controller Based on Linear Inverted Pendulum

本文首先介绍了运用牛顿力学的方法建立一级直线倒立摆的数学模型,然后介绍了PID控制器的设计以及BAS算法的原理,最后把BAS算法和PID控制器结合起来设计出一种应用于一级直线倒立摆的新型PID控制器。这种PID控制器的原理就是在BAS算法的不断迭代中来实现对PID参数的优化。然后将优化的PID参数应用在一级直线倒立摆系统中,通过仿真曲线,得到本文提出的BAS-PID算法适用于一级直线倒立摆系统。

This article first introduces the use of Newtonian mechanics method to establish the mathematical model of primary linear inverted pendulum.Then,this article introduces the design of PID controller and the principle of BAS algorithm.Finally,a new PID controller applied to the primary linear inverted pendulum is designed,which combine BAS algorithm and PID controller.The principle of this PID controller is constant iteration in the BAS algorithm to achieve the optimization of PID parameters.Then the optimized PID parameters are applied to the primary linear inverted pendulum system.Through the simulation curve,the BAS-PID algorithm proposed in this article is suitable for the primary linear inverted pendulum system.