倒立单摆摆起开环控制律的最优化算法

Optimization of Open-Loop Control Law on Standing Process of Inverted Single Pendulum

基于最优控制理论,研究了倒立单摆非线性系统过程控制问题·建立了带惩罚条件的摆起过程开环控制律计算的最优化算法·同一般数值方法相比,这种算法在每步优化计算中,以最优步长取代了固定步长,因此可以确定每个时间段上的精确控制量·编制了倒立单摆摆起过程控制律的计算程序,并进行倒立单摆摆起过程仿真分析·结果表明这种算法可以获得高精度的控制律,它将为非线性系统过程精确控制提供条件·

Based on optimal control, the process control of a nonlinear single inverted pendulum is studied. An optimization method with penalty term is proposed to compute open-loop control law. Compared with ordinary numerical methods, this method is in terms of optimal step length instead of fixed step length so as to set precisely the control per unit time interval in computation. The computation for the control law on the swing-up process of single inverted pendulum is thus programmed. A simulative analysis of the process was carried out, of which the result showed that a high-precision control law is available to control the process of nonlinear system.