摘要
倒立摆系统是一个典型的欠驱动、强耦合、非线性的机械系统,该文提出了利用模型预测控制(MPC)方法来实现二阶倒立摆系统的稳定控制。首先基于拉格朗日方程对二阶倒立摆系统进行线性化数学建模,其次在多参数二次规划方法的基础上建立了模型预测控制系统,利用Python编程对系统控制做了数值仿真计算,同时讨论了系统在复杂外界条件时的控制效果。研究结果表明,利用模型预测控制对二阶倒立摆系统的稳定控制效果良好。这对控制算法的验证以及其他非线性系统的稳定控制具有重要意义。
The inverted pendulum system is a typical underactuated,strongly coupled,nonlinear mechanical system.In this paper,a model predictive control(MPC)method is proposed to realize the stable control of the double-inverted-pendulum system.Firstly,the linearized mathematical modeling of the double-inverted-pendulum system is carried out based on the Lagrangian equation.Secondly,the model predictive control system is established on the basis of the multi-parameter quadratic programming method,and the numerical simulation calculation of the system control is carried out by using Python and discusses the control effect of the system under complex external conditions.The results show that the model predictive control is effective for the stability control of the double-inverted-pendulum system.This has important implications for the verification of control algorithms and the stable control of other nonlinear systems.
作者
石转转
郭开玺
张品
张占东
SHI Zhuan-zhuan;GUO Kai-xi;ZHANG Pin;ZHANG Zhan-dong(School of Mechanical and Electrical Engineering,Shanxi Datong University,Datong 037003,China)
出处
《自动化与仪表》
2022年第9期13-19,共7页
Automation & Instrumentation
基金
2016年度大同市科技基础条件平台建设项目(2016141)
2017年度大同市平台基地项目(2017159)。
关键词
模型预测控制
二阶倒立摆
稳定控制
model predictive control
double-inverted-pendulum
stability control
