LQR Control of Circular-Rail Double Inverted Pendulum Based on Genetic Algorithm

王海英; 李红文; 贾金林; 徐睿

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LQR Control of Circular-Rail Double Inverted Pendulum Based on Genetic Algorithm

更新时间：2026-09-14

- LQR Control of Circular-Rail Double Inverted Pendulum Based on Genetic Algorithm
- 基于遗传算法的环形二级倒立摆LQR控制
- Vol. 31, Issue 2, Pages: 132-135(2010)
- 作者机构：
  
  哈尔滨理工大学自动化学院
- 作者简介：
- 基金信息：
- DOI：
  CLC：
- Published：2010
- 稿件说明：
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王海英, 李红文, 贾金林, et al. LQR Control of Circular-Rail Double Inverted Pendulum Based on Genetic Algorithm[J]. 2010, 31(2): 132-135.
DOI：

王海英, 李红文, 贾金林, et al. LQR Control of Circular-Rail Double Inverted Pendulum Based on Genetic Algorithm[J]. 2010, 31(2): 132-135. DOI：

摘要

在环形二级倒立摆系统中

基于线性二次型调节器(Linear Quadratic Regulator

LQR)理论

探讨了控制器中的加权矩阵Q和R的选择策略

针对试探法选取Q和R矩阵所带来的不足

提出采取智能控制算法进行寻优的问题.从控制效果出发

采用遗传算法对Q和R矩阵进行优化.算法首先选取二次型性能指标J作为个体适应值

改进了初始种群的选取

用不等长度的基因来编制算法.由理论分析和MAT-LAB仿真结果可知

该算法满足了控制指标要求

使上下两级摆杆阶跃响应的超调量减少了14%

运行实验同样实现了摆杆和水平连杆的良好控制效果

理论与实践均表明了该优化方法的有效性.

Abstract

An optimal controller was designed based on linear quadratic regulator(LQR) for the circular rail double inverted pendulum

and the strategy of selecting the weighted matrix Q and R by experiments was investigated.For the shortcomings of the trial method strategy

intelligent control was proposed to searching the optimized value.Taking control effect as the starting point

an genetic algorithm to optimize the matrix was adopted.In the algorithm the quadratic performance indicator J was used as the individual adaptive value in the LQR

the selection of initial population was improved and the gene in the matrix was ranging in length.The theoretical analysis and simulation by MATLAB demonstrate that

the algorithm makes the control requirements satisfied

the step response overshoot of the two vertical poles reduces 14% on the average

and the running experiments achieve well controlled of the two vertical poles and the level rod.

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Keywords

references

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张冬军,丛爽.环型二级倒立摆的控制研究与实现[J].信息与控制,2003,32(2):123-126.Zhang Dongjun,Cong Shuang.Study and realization of rotary double inversed pendulum control[J].Information andControl,2003,32(2):123-126.(in Chinese)

陶文华.旋转二级倒立摆的控制系统设计与仿真[J].计算机仿真,2007(3):292-294.Tao Wenhua.Design and simulation of control system double rotation inverted pendulum[J].Computer Simulation,2007(3):292-294.(in Chinese)

张姝,朱善安.基于Lagrange方程建模的旋转倒立摆的分析与控制[J].工业控制计算机,2003(8):30-33.Zhang Shu,Zhu Shanan.Analysis and control based on the lagrange modeling method for a double rotary invertedpendulum[J].Industrial Control Computer,2003(8):30-33.(in Chinese)

王仲民,孙建军.基于遗传算法的倒立摆LQR控制系统权值优化[C].2006中国控制与决策学术年会论文集.沈阳:东北大学出版社,2006:432-435.

陈秋莲,王成栋.基于MATLAB遗传算法工具箱的优化计算实现[J].现代电子技术,2007(2):124-126.Chen Qiulian,Wang Chengdong.Optimization of genetic algorithm toolbox based on matlab[J].Modern ElectronicTechnology,2007(2):124-126.(in Chinese)

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