摘要
为提高非线性吊车-双摆系统的控制特性,利用拉格朗日方程推导出吊车-双摆系统的数学模型,提出了免疫PID控制算法,设计出免疫PID控制器,对最优指标和PID参数进行寻优,并将该控制方法应用于系统中。与LQR算法结果相比,免疫控制方法寻优速度快,吊车-双摆系统的各项指标得到了显著改善。采用吊车-双摆工作平台进行验证实验,将实验结果与仿真结果进行比较。对比结果表明,基于免疫算法的吊车-双摆系统的动态特性得到了有效地改善,获得了较高的控制精度,提高了系统抗干扰能力和鲁棒性,验证了控制方法的准确性。
In order to improve the control characteristics of nonlinear crane-double pendulum system, the system's state space equation is established by Lagrange Equation, the immune PID control algorithm is proposed, and the immune PID controller is designed, for optimizing optimal index and PID parameters, and the control method is applied to the system. Compared with the results of LQR algorithm, the optimization speed is faster based on the immune control method, indicators of the crane-double pendulum system have been significantly improved. Using the crane-double pendulum working platform to verify experiments, experimental results are compared with simulation results. The comparison result has indicated that the dynamic characteristic of the crane-double pendulum system based on the immune algorithm has been improved effectively, the higher control precision is obtained, the system anti-interference ability as well as robustness is sharpened, and the accuracy of the control method is verified.
出处
《控制工程》
CSCD
北大核心
2016年第6期895-900,共6页
Control Engineering of China
基金
国家自然科学基金项目(51005025)
安徽省教育厅自然科学基金项目(KJ2013B159)
安徽省高等学校省级质量工程项目(2012zjjh042)
关键词
吊车-双摆系统
非线性
免疫算法
动态特性
Crane-double pendulum system
nonlinear
immune algorithm
dynamic characteristic
