采用双闭环PID控制及PSO算法的双足轮式倒立摆控制系统

Abstract

为了解决双足轮式倒立摆的稳定控制问题，提出一种采用双闭环PID的控制器及粒子群优化算法(Particle swarm optimization, PSO)的双足轮式倒立摆控制系统，并设计与控制效果相关的代价函数，以增加控制系统的稳定性，在matlab仿真条件下，实现了双足轮式倒立摆的稳定控制，实验结果表明，经过整定的控制器参数较原参数的阶跃响应更好，上升时间和稳定时间较未整定PID控制器的短，并且本算法已经应用到基于面阵CCD的直立式智能搜索识别采样系统中，验证了PSO-PID控制器的可用性。In order to solve the feet-wheeled inverted pendulum’s stability control problem, a control system of a feet-wheeled inverted pendulum based on double closed-loop PID controller combined with particle swarm optimization is proposed. In addition, we designed a cost function related to the control effect to increase the stability of the control system. Under matlab simulation conditions, stable control of the feet-wheeled inverted pendulum was achieved. Experimental results showed that after tuning, the step response of the controller parameters was better than that of the original parameters with the rise time and the settling time was shorter than that of the non-tuning PID controller. This algorithm has been applied to a vertical intelligent search-identify-sampling system based on the area CCD, showing the availability of the PSO-PID controller.