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为提高非线性吊车-双摆系统的控制特性,利用拉格朗日方程推导出吊车-双摆系统的数学模型,提出了免疫PID控制算法,设计出免疫PID控制器,对最优指标和PID参数进行寻优,并将该控制方法应用于系统中。与LQR算法结果相比,免疫控制方法寻优速度快,吊车-双摆系统的各项指标得到了显著改善。采用吊车-双摆工作平台进行验证实验,将实验结果与仿真结果进行比较。对比结果表明,基于免疫算法的吊车-双摆系统的动态特性得到了有效地改善,获得了较高的控制精度,提高了系统抗干扰能力和鲁棒性,验证了控制方法的准确性。
In order to improve the control characteristics of the nonlinear crane - double pendulum system, the mathematical model of the crane - double pendulum system is deduced by Lagrange equation. The immune PID control algorithm is proposed and the immune PID controller is designed. The optimal index and PID Parameter optimization, and the control method applied to the system. Compared with the results of LQR algorithm, the immune control method is superior in speed and the indexes of crane-double-pendulum system have been significantly improved. The crane-double pendulum working platform is used to verify the experiment, and the experimental results are compared with the simulation results. The comparison results show that the dynamic characteristics of crane-double-pendulum system based on immune algorithm are effectively improved, higher control precision is obtained, anti-interference ability and robustness of the system are improved, and the accuracy of the control method is verified.