摘要
针对直线一级小车倒立摆系统起摆阶段的特点,设计基于能量控制的起摆控制器。通过引入"小车位移极限"、"小车速度极限"和"系统能量保持"的概念,对纯能量控制策略进行了优化。在起摆过程中,既能保证摆杆的快速起稳摆,又能确保小车位移在有限长的范围内。利用MATLAB对系统进行仿真分析,并运用英国Feedback公司生产的倒立摆机械实物系统进行实验验证。结果证明,该控制器能够实现小车倒立摆系统的快速平稳起摆。
Based on the swing-up characteristics of the linear single inverted pendulum, a swing-up controller based on energy control was designed.By introducing the concepts of ＂Cart Potential Well＂, ＂Velocity Well＂ and ＂Energy Maintenance＂, the pure energy-based control strategy was optimized.The design not only ensured the quick and smooth swing-up of the pendulum rod but also the displacement of the cart within a limited length during the whole swing-up period.Then the pendulum system was simulated by using MTALAB and real-time experiments were made by using the inverted pendulum manufactured by the British Feedback company.The experimental results indicate that the proposed controller is able to achieve the quick and smooth swing-up of the inverted pendulum.
出处
《山东科技大学学报（自然科学版）》
CAS
2016年第6期95-100,共6页
Journal of Shandong University of Science and Technology(Natural Science)
基金
"十二五"国家科技支撑计划项目(2012BAB13B04)
关键词
倒立摆
能量起摆控制优化
MATLAB仿真
实物验证
inverted pendulum
modified energy-based swing-up controller
MATLAB simulation
real-time application
