基于改进遗传算法的控制系统在倒立摆中的应用-控制理论与控制工程专业论文.docxVIP

武汉理工大学硕士学位论文The 武汉理工大学硕士学位论文 The control of inverted pendulum system is a typical example of application of the control theory．Its often used to testify the efficiency of novel control strategy． Moreover,due to the similarity of control of the inverted pendulum system to the control of rocket，aircraft’s aviation and robot，the control algorithm and conclusion of this paper will be instructive to solve other engineering problems． GA is process in inheritance and evolution in natural environment simulate living things but one kind of self fit in with overall situation taking form optimizes probability searching for method．Inheritance algorithm has provided one kind finding the solution complicated system optimizes the problem generic framework，it is not dependent on concrete problem field，the kind to problem has very strong Shandong stick sex，applies to many discipline therefore broad．Have much the problem being related to the optimization to need to find the solution in autocontrol field，inheritance algorithm already has been getting the effect having applied the fine optimization，and having demonstrated broadly among them． The problems to be resolved in this dissertation ale that concisely introducing the development and current situation of inverted pendulum system research,the mechanism and mathematical model of inverted pendulum are presented． Mathematical model of the one level inverted pendulum and two level inverted pendulum is particularly educed in this papeL analyzing any methods of creating mathematical model of inverted pendulum system．From the merit and demerit of the GA and the specialty of inverted pendulum，the improved GA can optimize the parameters of the control system．The effect of the parameters is better than before form the test of GOOGOUs pendulum．Using language C to program the new GA, the graphics which is form the data is put into EXCEL shows the effect．We also develop the real-time control system by using Simulink of MATLAB．Next time the