【摘要】 针对倒立摆系统的稳定控制,提出了一种基于广义扩展线性化的非线性控制方法,设计了非线性状态反馈控制器。同时利用ADAMS软件建立单级倒立摆虚拟样机模型,通过其输入输出接口实现对Matlab的通信,并进行了ADAMS/Controls控制模块与Matlab联合仿真分析。仿真结果验证了控制方法的有效性,且更接近物理样机控制效果,为控制方案的仿真分析和改进提供了一种新途径。更多还原

【Abstract】 According to the requirements of stability control on single inverted pendulum system,a general technique to design nonlinear feedback controllers was given,which based on the generalized extended linearization.At the same time,the virtual prototype of single inverted pendulum was established in ADAMS,the communication with Matlab is realized through the input/output interface,then the union simulation with the controller was realized.The result of simulation proved the validity of this control method,which was more close to the real system and provided a new way for control system simulation.更多还原