基于改進(jìn)遺傳算法的倒立擺系統(tǒng)研究.pdf

1、哈爾濱工程大學(xué)碩士學(xué)位論文基于改進(jìn)遺傳算法的倒立擺系統(tǒng)研究姓名：姜倩申請(qǐng)學(xué)位級(jí)別：碩士專(zhuān)業(yè)：控制理論與控制工程指導(dǎo)教師：葉秀芬20081201哈爾濱丁稃大學(xué)碩十學(xué)何論文AbstractInvertedPendulumisanonlinear，coupling，variableandnaturalinstabilitysystemDuringthecontrolprocess，manykeyissuessuch嬲equanimity，ro

2、bu甌followupandtrackingCallbeeffectivelyperformedThereforeInvertedPendulumisaperfectmodelforvariouscontroltheories’testsThecontrolmethodofInvertedPendulumhasbeenusedinthemilitary，aerospace，generalindustrialrobotsandindust

3、ryprocesscontr01Geneticalgorithm(GA)isanewrandomsearchandoptimization，whichisbasedonDarwin’StheoryofevolutionandMendelgeneticsItisaglobaloptimizationalgorithm謝tllllighrobustperformanceAndithaSbeenwidespreadusedinautomati

4、ccontrolfieldTllisthesisdescribesthebackgroundanddevelopmentofGAandinvertedpendulumcontrolsystemfirstAndtheestablishmentofathematicalmodel(transferfunctionandstatementequations)ofsingleordoubleinvertedpendulumsystemsisin

5、troducedindetails。Inthefieldofmodemcontroltheory，thecontrollabilityandobservabilityofsingleanddoubleinvertedpendulumsystemsareanalyzedPID，poleassignmentandlinearquadraticoptimalcontrol(LQR)areusedtodesigninvertedpendulum

6、systemsAndtheyareresearchedbyMATLABsimulationSecondly，theparametersofthatthreecontrolalgorithmareoptimizedseparatelybyGAThesimulationresultsshowthattheresultsofPIDcontrolbasedonGAarebetterthanexperience，buttheresultsofpo

7、leassignmentcontrolandLQRcontrolarenotclearadvantagewhitexperienceThirdly，basedontheanalysisofGAandthecharacteristicsofinvertedpendulumsystems，anewimprovedGAispresentedTheimprovedGAisusedtooptimizetheparametersofpoleassi