| Popis: |
In the paper the development of a hybrid control system based on linear quadratic regulator (LQR) and genetic algorithm (GA) for active support weight compensation system is considered. The proposed concept of an active support weight compensation system was described, and existing types of deweighting systems were also considered. As a first step, the proposed concept of the deweighting system was reduced to a model of an inverted pendulum mounted on a mobile platform with 2 degree of freedom (DOF) hinge. Next, the dynamic model was obtained with Lagrange equation of the 2nd kind. Then the model was extended by the inclusion of electric drivers with Mechanum wheels and a single-section solar battery in the model, and then linearized model of mobile platform dynamics in a state space form was obtained. A standard procedure for synthesizing a LQR was performed. Main feature of this article is the development of a scheme for adjusting the LQR using a genetic algorithm, the block diagram of this procedure is presented in the article. Graphs of transient processes with different initial conditions are also presented, and conclusions are drawn about the applicability of the proposed approach in the considered concept of the active support weight compensation system |
