基于遗传模糊PID算法的倒立摆稳摆抑噪抗扰实验与分析

Experiment and analysis on noise suppression and disturbance immunity of inverted pendulum stability based on genetic fuzzy PID algorithm

倒立摆稳摆控制原理应用的实际工程需求牵引,使倒立摆成为检验各类控制算法的理想替代实验研究平台。因此,将倒立摆摆杆的姿态稳定控制和抑噪抗扰作为研究内容,以理论分析、编程实现、仿真实验和实物实验验证作为研究手段,聚焦控制器设计的优化。首先,引入模糊控制对PID参数调节进行优化,改固定参数调节为在线参数调节,旨在提高系统的鲁棒性与抗扰性;然后,运用遗传算法的量化因子和比例因子完成调节参数的在线寻优,通过设计适应度函数和选择算子,经过选择、交叉、变异不断演化迭代,最终获取最佳适应度个体、找到最优解,通过仿真验证遗传模糊PID算法突出的抑噪抗扰优势;最后,基于该控制策略进行倒立摆实物实验,验证了其指令跟踪有效性的结论。该研究表明:遗传模糊PID算法具有良好的指令跟踪和抑噪抗扰性能,具有一定的工程应用价值。

The practical engineering requirements of the application of the inverted pendulum control principle render the inverted pendulum an ideal alternative experimental research platform for testing various control algorithms.The attitude stability control and noise suppression and disturbance suppression of the inverted pendulum rod were studied.And theoretical analysis,programming realization,simulation experiment and physical experiment verification were taken as the research means so as to focus on the optimization of the controller design.Firstly,fuzzy control was introduced to optimize the PID parameter adjustment,and the fixed parameter adjustment was changed to online parameter adjustment,aiming at improving the robustness and disturbance suppression of the system.Secondly,the quantization factor and scale factor of genetic algorithm were used to complete the online optimization of the adjustment parameters.Through the design of fitness function and selection operator,the optimal fitness individual was finally obtained and the optimal solution was found through the selection,crossover and mutation evolution and iteration.The outstanding noise suppression and disturbance suppression advantages of genetic fuzzy PID algorithm were verified by simulation.Finally,based on the control strategy,the inverted pendulum experiment was carried out to ve-rify the effectiveness of its instruction tracking conclusion.The research shows that the genetic fuzzy PID algorithm performs well as far as command tracking,noise suppression and disturbance rejection are concerned,and thus proves its value in engineering application.