Integration of Genetic Algorithms and Z-N Adjustment Method to Achieve Single-Axis Inverted Pendulum System Control in PID Controller Design

• Main Authors: Yong-Sing Nian, 粘永興
• Other Authors: Kuang-Tsan Lin
• Format: Others
• Language: zh-TW
• Published: 2014
• Online Access: http://ndltd.ncl.edu.tw/handle/58603717449894037217

碩士 === 聖約翰科技大學 === 自動化及機電整合研究所 === 102 === Since the inverted pendulum is a non-linear, single input multi-output system with the characteristics of non-minimum phase and instability, it is widely used by scholars and researchers for verifying the performance of various controllers.This paper proposes the use of PID controller is applied to single-axis inverted pendulum control system balance and add parameters to adjust the Ziegler-Nichols method and genetic algorithm to compute approximate solutions of optimal PID parameters to avoid ever by an expert system design, time-consuming trial and error or subjective experience method to design the controller parameters to achieve the goal of intelligent search optimization parameters and time-saving controller design.In the simulation and experiment, proposed a simple PID controller architecture and applied Ziegler-Nichols method and genetic algorithm parameter tuning PID controller to adjust the search parameters, to design a perfect system PID controller, succeeded in getting the formula down uniaxial pendulum stability control system vertically upwards.Moreover, after a comparison and analysis on the control performance of each controller, found that the above two methods designed to control the performance of the controller is relatively good genetic algorithm PID controller. Finally, through a single-axis platform inverted pendulum experiment proves the genetic algorithm PID controller in inverted pendulum control system is feasible.