【摘要】 倒立摆系统以其自身的不稳定性为系统的平衡提出了难题,也因此成为自动控制实验中验证控制算法优劣的极好实验装置.作者对倒立摆系统的非线性模型进行了线性化处理,通过利用全状态反馈和线性二次型最优控制两种方法对系统进行控制以满足设计指标,最后设计仿真实验软件平台以方便对比参数设置和系统性能之间的关系.更多还原

【Abstract】 Inverted-pendulum system is difficult to control because its instability,it becomes the wonderful experiment device to verify how about the control strategy in automatic control experiments.This paper llinearizes the single inverted-pendulum system,using the pole-placement method and the LQR method to meet the design specifications.Finally,we design a simulating experiment platform in order to better find the connection between parameter settings and system performance.更多还原