东北大学学报（自然科学版）

东北大学学报(自然科学版) ›› 2004, Vol. 25 ›› Issue (1): 9-12.DOI: -

• 论著 • 上一篇    下一篇

倒立单摆摆起开环控制律的最优化算法

侯祥林;丛德宏;徐心和   

  1. 东北大学理学院;东北大学信息科学与工程学院;东北大学信息科学与工程学院 辽宁沈阳　110004
  • 收稿日期:2013-06-24 修回日期:2013-06-24 出版日期:2004-01-15 发布日期:2013-06-24
  • 通讯作者: Hou, X.-L.
  • 作者简介:-
  • 基金资助:
    国家自然科学基金资助项目(69875003);;辽宁省博士启动基金资助项目(2001102017)·

Optimization of open-loop control law on standing process of inverted single pendulum

Hou, Xiang-Lin (1); Cong, De-Hong (2); Xu, Xin-He (2)   

  1. (1) Sch. of Sci., Northeastern Univ., Shenyang 110004, China; (2) Sch. of Info. Sci. and Eng., Northeastern Univ., Shenyang 110004, China
  • Received:2013-06-24 Revised:2013-06-24 Online:2004-01-15 Published:2013-06-24
  • Contact: Hou, X.-L.
  • About author:-
  • Supported by:
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摘要： 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·

关键词: 最优控制, 最优化算法, 倒立单摆, 摆起过程控制, 开环控制律

Abstract: 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 adopts 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 is carried out, of which the results show that a high-precision control law is available to control the process of nonlinear system.

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