| The pendulum is the typical nonlinear system, with multivariable, close coupled and absolute instability characteristic .It is the research hotspot of the control theory and application when it come on the scene. The pendulum control process is able to response many key questions, such as nonlinear, robustness and tracking. The controlled experiment of pendulum is able to check or illustrate the controllability of the controlling means to the serious nonlinear and absolute instability system.The text begin with the pendulum swing up to optimize control strategy, try to adopt imitation method to optimize the known swing-up trajectory deeply. Change the controlling force slightly of a certain control cycle, obtain a new node near the known track node.In this way the known swing-up trajectory can be changed into a multi-stage directed graph, and then achieve the further optimized the swing-up control strategy.Make an intensive study of the merit and demerit of the pendulum swing up control strategy by the imitation method, and then put forward the idea about genetic algorithm optimize first-degree pendulum swing up control decision.Under the rail length and control force are limited, the dividing moment is the final time when the rotational speed is zero before the swing stem entered in upper half plane, the pendulum swing up course is divided into two stages according to the physical character of the pendulum, searching the optimum control strategy in each stage by using cross-adaptation and variation operators genetic algorithm, the single inverted pendulum succeeded in swing up within 1.9s. This method could simplify the control rule, optimize the swing up time and put the swing stem in a more stable swing control state. In the Simulink environment, the simulation and real-time experiments show that the method is feasible .Finally, try to optimize second-class pendulum swing up control decision by using the genetic algorithm and completed the simulation testing. |
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