|本期目录/Table of Contents|

[1]史乐珍,王华,洪荣晶.基于差分进化算法的旋转倒立摆线性自抗扰控制[J].南京工业大学学报(自然科学版),2019,41(01):89-95.[doi:10.3969/j.issn.1671-7627.2019.01.014]
 SHI Lezhen,WANG Hua,HONG Rongjing.Differential evolution based linear auto disturbance rejection control of rotary inverted pendulum[J].Journal of NANJING TECH UNIVERSITY(NATURAL SCIENCE EDITION),2019,41(01):89-95.[doi:10.3969/j.issn.1671-7627.2019.01.014]
点击复制

基于差分进化算法的旋转倒立摆线性自抗扰控制()
分享到:

《南京工业大学学报(自然科学版)》[ISSN:1671-7627/CN:32-1670/N]

卷:
41
期数:
2019年01期
页码:
89-95
栏目:
出版日期:
2019-01-28

文章信息/Info

Title:
Differential evolution based linear auto disturbance rejection control of rotary inverted pendulum
文章编号:
1671-7627(2019)01-0089-07
作者:
史乐珍王华洪荣晶
南京工业大学 机械与动力工程学院,江苏 南京 211800
Author(s):
SHI LezhenWANG HuaHONG Rongjing
College of Mechanical and Power Engineering,Nanjing Tech University,Nanjing 211800,China
关键词:
差分进化(DE) 旋转倒立摆 比例-积分-微分 自抗扰控制
Keywords:
differential evolution(DE) rotary inverted pendulum proportional-integral-derivative auto disturbance rejection control
分类号:
TP273
DOI:
10.3969/j.issn.1671-7627.2019.01.014
文献标志码:
A
摘要:
为了提高旋转倒立摆系统的稳定控制性能,结合自抗扰控制器(ADRC)估计扰动并进行补偿的特点,提出一种带宽参数化的线性自抗扰控制方法(LADRC)。在倒立摆数学模型的基础上,采用线性扩张状态观测器(LESO)估计垂直摆杆角度,并以两个比例-微分控制器(PD)分别设计水平连杆和垂直摆杆的控制率。为了克服自抗扰控制器参数难以整定的问题,结合参数自适应差分进化算法和带宽概念进行控制器参数的寻优。硬件在环仿真结果表明,相比于PD控制器和线性二次型最优控制器(LQR),所整定的线性自抗扰控制器作用的倒立摆系统具有更好的响应和抗扰动能力。
Abstract:
Combined with the characteristic of auto disturbance rejection controller(ADRC)to estimate and compensate the disturbance,a linear auto disturbance rejection control(LADRC)method based on bandwidth parameters was proposed to improve the stability of the inverted pendulum system.On the basis of the mathematical model of the inverted pendulum,the linear extended state observer(LESO)was used to estimate the vertical angle,and two proportional-differential(PD)controllers were used to design the control law of the horizontal and vertical pendulum,respectively.ADRC controller parameters were optimized by combining parameter adaptive differential evolution algorithm and bandwidth concept.Results of hardware-in-the-loop simulation showed that compared with PD control and linear quadratic regulator(LQR)control,the proposed LADRC method had better response and disturbance rejection ability for the inverted pendulum system.

参考文献/References:

[1] 刘浩梅,张昌凡.基于LQR的环形单级倒立摆稳定控制及实现[J].中南大学学报(自然科学版),2012,43(9):177.
[2] MANDIC P D,LAZAREVIC M P,EKARA T B.D-decomposition technique for stabilization of Furuta pendulum:fractional approach[J].Bulletin of the Polish Academy of Sciences Technical Sciences,2016,64(1):189.
[3] CHEN Y F,HUANG A C.Adaptive control of rotary inverted pendulum system with time-varying uncertainties[J].Nonlinear Dynamics,2013,76(1):95.
[4] 李丽娟,赵英凯,胡盛祥.自适应神经网络模糊控制在倒立摆中的应用[J].南京工业大学学报(自然科学版),2004,26(6):98.
[5] HAN J.From PID to active disturbance rejection control[J].IEEE Transactions on Industrial Electronics,2009,56(3):900.
[6] ZHU E,PANG J,SUN N,et al.Airship horizontal trajectory tracking control based on active disturbance rejection control(ADRC)[J].Nonlinear Dynamics,2014,75(4):725.
  
[7] SU Y X,ZHENG C H,DUAN B Y.Automatic disturbances rejection controller for precise motion control of permanent-magnet synchronous motors[J].IEEE Transactions on Industrial Electronics,2005,52(3):814.
[8] RAMFREZ-NERIA M,SIRA-RAMÍREZ H,GARRIDO-MOCTEZUMA R,et al.Linear active disturbance rejection control of underactuated systems:the case of the Furuta pendulum [J].ISA Transactions,2013,53(4):920.
[9] PAN J,WANG Y.Stabilization and tracking control of X-Z inverted pendulum using flatness based active disturbance rejection control[J].Asian Journal of Control,2015,18(5):1714.
[10] ZHANG Y,FAN C,ZHAO F,et al.Parameter tuning of ADRC and its application based on CCCSA[J].Nonlinear Dynamics,2014,76(2):1185.
[11] GAO Z.Scaling and bandwidth-parameterization based controller tuning[C]//Proceedings of the 2003 American Control Conference.Denver:[s.n.],2003:4989.
[12] OUYANG P,PANO V.Comparative study of DE,PSO and GA for position domain PID controller tuning[J].Algorithms,2015,8(3):697.

备注/Memo

备注/Memo:
收稿日期:2017-07-08
基金项目:国家自然科学基金(51105191,51375222)
作者简介:史乐珍(1993—),男,E-mail:2269627164@qq.com; 王华(联系人),副教授,E-mail:wanghua@njtech.edu.cn.
引用本文:史乐珍,王华,洪荣晶.基于差分进化算法的旋转倒立摆线性自抗扰控制[J].南京工业大学学报(自然科学版),2019,41(1):89-95..
更新日期/Last Update: 2019-02-26