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The LQR Controller Of Linear2-stage Inverted Pendulum System Designed Based On Ma Optimizing

Posted on:2013-11-24Degree:MasterType:Thesis
Country:ChinaCandidate:J ZhangFull Text:PDF
GTID:2248330374956644Subject:Control theory and control engineering
Abstract/Summary:PDF Full Text Request
As an ideal model and researching platform, which is used to testing some theories and algorithms, the researching of inverted pendulum system is quite important both in theory and practices, for its characteristics and complex traits. In this paper, the researching background and meaning of inverted pendulum is introduced and it is analyzed that the current researching situation and developing trends studied by the experts and scholars at home and abroad firstly. Secondly, the model of the linear1-stage inverted pendulum is established based on Newton mechanics equation in analytical mechanics, the model of the2-stage one is established based on Lagrange equation and the traits of whether it can be controlled and observed are analyzed by Matlab software. Thirdly, the memetic algorithm, which is also called MA for short, is introduced in detail, including the origin and the process of developing, the theory and algorithm flow path, and the problems which are generally solved by memetic algorithm. Since the superiority of the memetic algorithm which is with the characteristics of global searching ability and local searching ability, memetic algorithm is used to optimize the parameters of inverted pendulum control system in the thesis. After that, linear quadratic regulator control theory is expounded and used to design the LQR controller for both the linear1-stage inverted pendulum and linear2-stage inverted pendulum. Then, based on the traditional LQR control, the parameters of LQR controller are optimized by memetic algorithm and the controller based on MA is designed finally. According to the two kinds of controller, the results of simulink experiment are compared and analyzed. At last, the optimized controller is used in Googol Inverted Pendulum experiment equipment for real-time controlling, whose controlling effect is actually better than the un-optimized one.The result of experiments shows that memetic algorithm is quite effective in parameter optimizing of LQR controller, in which it is given full play for its application and proves that it is very useful in optimizing parameter and the application foreground of memetic algorithm is considerable and so widely that it could be used in more and more fields, not only in testing the theories, but also in solving the practical problems.
Keywords/Search Tags:Inverted pendulum, Memetic algorithm, LQR control
PDF Full Text Request
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