【作者】 陶文华；

【Author】 TAO Wen hua Department of Information Engineering Liaoning University of Petroleum & chemical Technology, Liaoning 113001

【机构】 辽宁石油化工大学信息与控制工程学院；

【摘要】 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,旋转倒立摆是一种新型的倒立摆装置模型更复杂和不稳定,增加了控制难度。本文详细介绍了单级旋转倒立摆的构成及数学模型状态空间的建立,采用极点配置、LQR和LQY三种方法对旋转倒立摆进行了最优控制系统设计,并借助Matlab平台进行了仿真实验,对系统控制效果的影响进行了分析,实验结果证明了其有效性。该控制结果可以进一步扩展到多级旋转倒立摆的控制,对于实现其他不稳定系统的控制,也有着一定的借鉴价值。更多还原

【Abstract】 Inverted Pendulum system is a complicated, nonlinear, unstable system of high order. It is the typical experiment object for controlling research. Rotation inverted Pendulum is more complex and less stable than normal that so as to increase the control level. The structure and mathematic model of single rotation inverted Pendulum is presented de-taily in this paper. The three control system based on pole-placement, LQR and LQY are designed, The simulation is done based on Matlab. The effection is proved by the result of experiment. The control result can be expanded the control of multilevel Rotation inverted Pendulum, and have a guiding meaning in the control of other unstable system.更多还原