| 直线单级倒立摆自抗扰控制优化设计 |
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| 引用本文： | 曾文飞,张英杰. 直线单级倒立摆自抗扰控制优化设计[J]. 邵阳学院学报(自然科学版), 2009, 6(2): 19-23 |
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| 作者姓名： | 曾文飞 张英杰 |
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| 作者单位： | 1. 湖南大学,计算机与通信学院,长沙,420087;邵阳学院,信息工程系,邵阳,422000
2. 湖南大学,计算机与通信学院,长沙,420087 |
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| 摘 要： | 自抗扰控制技术（ADRC）通过对模型不确定因素和外扰进行补偿，使得控制系统对外扰和不确定因素均有很好的适应能力，能够有效控制多种工业上较为难控的对象，表现了极强的鲁棒性和抗干扰性，但是ADRC参数众多难以调节．本文将生物免疫算法与遗传算法相结合，提出了一种基于免疫遗传机理优化计算模型，避免了遗传算法易出现早熟、搜索效率低及不能很好保持个体多样性等问题，给出了基于免疫遗传算法的ADRC参数整定方法，通过对直线单级倒立摆的自抗扰控制，仿真实验表明了通过免疫遗传算法整定的ADRC具有的良好控制效果．
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| 关 键 词： | 自抗扰控制（ADRC） 免疫算法 遗传算法 优化设计 倒立摆 |
The Optimization Design of Active Disturbance Rejection Control for the Linear Inverted Pendulum |
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| ZENG Wen-fei,ZHANG Ying-jie. The Optimization Design of Active Disturbance Rejection Control for the Linear Inverted Pendulum[J]. Journal of Shaoyang University(Natural Science Edition), 2009, 6(2): 19-23 |
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| Authors: | ZENG Wen-fei ZHANG Ying-jie |
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| Affiliation: | 1. Institute of Computer and Communications Engineering, Hunan University ,Changsha 420008; 2. Department of Information Engineering ,Shaoyang University, Shaoyang 42200 ) |
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| Abstract: | Active-Disturbance-Rejection Controller （ADRC） can effectively adjust uncertain factor and disturbance of the model by compensation .It can effectively control many unmanageable model and shows its robustness and anti-disturbance to us. However, ADRC parameter are numerous and hard to adjust. The text combines the Immune Algorithm and Genetic Algorithm to construct ideal controller, putting forward a kind of the optimization compute model based on Immune Genetic Mechanism, thus avoiding the problem of precocity, low searching efficiency and failure in maintaining individual diversity in Genetic Algorithm , The parameter setting of ADRC based on IGA is also given.The optimized ADRC is applied to the linear inverted pendulum ,the result of simulation shows the good effect of ADRC set by IGA. |
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| Keywords: | active-disturbance-rejection control （ADRC） immune algorithm genetic algorithm optimization design inverted pendulum |
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