摘要
小车倒立摆系统是一个典型的多变量、非线性、强耦合和快速运动的自然不稳定系统,其控制问题被公认为控制理论的一个典型问题,是控制理论研究的典型实验平台。旋转二级倒立摆是一种新型的倒立摆装置,与同级的直线轨道倒立摆相比,结构简单紧凑,但模型更复杂和不稳定,对控制算法提出更高的要求,增加了控制难度。该文基于动力学理论分析旋转二级倒立摆系统的结构,建立了旋转二级倒立摆系统的数学模型状态空间方程,分析了系统的稳定性和可控性。采用二次型最优控制策略对旋转二级倒立摆系统进行控制系统设计,并借助Matlab平台进行了仿真实验。实验结果证明了其控制有效性,该控制结果与其它控制方法相比,有较优的稳态特性和快速性,系统处在较大的非平衡初始状态,旋转二级摆杆也能稳定地控制在倒立平衡位置附近。因此可以进一步扩展到多级旋转倒立摆的控制,对于实现其它不稳定系统的控制,也有着一定的借鉴价值。
Inverted pendulum system is a complicated, nonlinear, unstable system of high order. It is a typical experiment object for controlling research. Rotation inverted pendulum is more complicated and less stable than usual ones. The structure and mathematic model of double rotation inverted pendulum is presented in detail in this paper. The quadratic optimal control method is applied, and control system of rotation inverted pendulum is designed, and the influence of control effect is seriously analyzed. The simulation is done based on Matlab. The system proved by the result of experiment has better stability and quickness. It can be stable even when the station is unstable.
出处
《计算机仿真》
CSCD
2007年第3期292-294,302,共4页
Computer Simulation
关键词
旋转二级倒立摆
二次型最优控制
状态空间建模
状态反馈
Double rotation inverted pendulum
Quadratic optimal control
State modeling
State feedback
