Experiment and analysis on noise suppression and disturbance immunity of inverted pendulum stability based on genetic fuzzy PID algorithm
The practical engineering requirements of the application of the inverted pendulum control principle render the inverted pendulum an ideal alternative experimental research platform for testing various control algorithms.The attitude stability control and noise suppression and disturbance sup-pression of the inverted pendulum rod were studied.And theoretical analysis,programming realiza-tion,simulation experiment and physical experiment verification were taken as the research means so as to focus on the optimization of the controller design.Firstly,fuzzy control was introduced to opti-mize the PID parameter adjustment,and the fixed parameter adjustment was changed to online pa-rameter adjustment,aiming at improving the robustness and disturbance suppression of the system.Secondly,the quantization factor and scale factor of genetic algorithm were used to complete the on-line optimization of the adjustment parameters.Through the design of fitness function and selection operator,the optimal fitness individual was finally obtained and the optimal solution was found through the selection,crossover and mutation evolution and iteration.The outstanding noise suppres-sion and disturbance suppression advantages of genetic fuzzy PID algorithm were verified by simula-tion.Finally,based on the control strategy,the inverted pendulum experiment was carried out to ve-rify the effectiveness of its instruction tracking conclusion.The research shows that the genetic fuzzy PID algorithm performs well as far as command tracking,noise suppression and disturbance rejection are concerned,and thus proves its value in engineering application.
inverted pendulumfuzzy controlgenetic algorithmnoise suppression and anti-interference
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