计量学报2017，Vol.38Issue(4)：444-448,5.DOI:10.3969/j.issn.1000-1158.2017.04.13
有约束复杂随动系统模型建立与控制研究
Research on Establishment and Control of a Constrained Complex Dynamic System Model
摘要
Abstract
A new constrained complex follow-up system-cup and ball pendulum system is proposed.To study control strategy of constrained dynamic system, this cup and ball pendulum system was chosen as study object.The system was modeled by Lagrange dynamics method.Controllability and observability of the system were studied firstly.Robust double closed-loop PID control and linear quadratic regulator optimal control based on genetic algorithm were used to achieve the experiment comparison.The comparative analysis results showed that robust double closed loop PID controller was of better robustness and transient characteristics, and linear quadratic regulator optimal controller based on genetic algorithm was of better dynamic characteristics.关键词
计量学/随动系统/双闭环PID/遗传算法/线性二次型最优控制Key words
metrology/follow-up system/double-loop PID control/genetic algorithm/LQR optimal control分类
通用工业技术引用本文复制引用
付荣荣,李东玉,时培明..有约束复杂随动系统模型建立与控制研究[J].计量学报,2017,38(4):444-448,5.基金项目
国家自然科学基金(51605419) （51605419）
中国博士后科学基金(2016M600193) （2016M600193）
河北省科技计划(152177180) （152177180）
