【作者】 姚荣斌； 李生权； 李娟；

【Author】 YAO Rong-bin~(1,4),LI Sheng-quan~2,LI Juan~3 (1.Natural Science Department of Lianyungang Teachers College,Jiangsu Lianyungang 222006 China; 2.Aeronautical Science Key Lab for Smart Materials & Structures,Nanjing University of Aeronautics & Astronautics,Nanjing 210016,China; 3.School of Automation;Southeast University;Nanjing 210096;Jiangsu Province;210016,China; 4.Key Laboratory of Modern Acoustics,,Ministry of education Institution of Acoustics,,Nanjing University,Nanjing 210008,China)

【机构】 连云港师范高等专科学校自然科学系； 南京大学近代声学教育部重点实验室； 南京航空航天大学智能材料与结构航空科技重点实验室； 东南大学自动化学院；

【摘要】 为解决LQ控制多变量系统时,权矩阵参数难以确定的问题,在引入一种与系统动态性能密切相关的性能指标基础上,提出混沌全局粗搜索和局部细搜索相结合优化LQ控制二级倒立摆。该方法既是线性二次型泛函意义下的最优,又能解决具有快速、强非线性、绝对不稳定系统的控制问题。二级倒立摆实验结果证实了该方法的有效性。更多还原

【Abstract】 A method of controlling double inverted pendulum is presented in this paper. Chaos optimization linear quadratic controller based on the dynamic performance index is proposed,in order to solve the choice of weighting matrix problem in LQ control multi-variable.The controller designed by the approach can satisfy the performance index of linear quadratic.It is also helpful to control the systems which have the characteristics of quick speed,serious nonlinear and absolutely unstable.The real-time control curves of the double inverted pendulum show the effectiveness and practicability of this method.更多还原