【作者】 王科俊； 王玉珅； 曲加圣；

【Author】 Wang kejun ,Wang yushen ,Qu jiasheng Department of Automation,Harbin Engineering University,Harbin150001

【机构】 哈尔滨工程大学自动化学院；

【摘要】 基于自适应逆控制理论,研究了二级倒立摆系统的控制问题。针对不同自适应滤波器下的自适应逆控制系统,进行了仿真结果的比较和分析,通过对控制规律的参数进行寻优和调整,实现了二级倒立摆系统的稳定控制。仿真研究表明,自适应逆控制系统具有稳定性高,收敛速度快,消除扰动能力强的特点。而且,基于U-滤波LMS算法的自适应逆控制系统选择好IIR滤波器的极点,会得到更加满意的系统响应。更多还原

【Abstract】 Summary:In this paper, adaptive inverse control theory, study the control problem of double inverted pendulum system. Faced the adaptive inverse control system under different adaptive filter, carry on simulation result of compare sum analysis, by find excellent sum tune of control regulation of parameter, carry out double inverted pendulum system of stable control. The simulation studies have shown that this linear adaptive inverse control system can erase disturbances and result in well stability and fast convergence speed. Moreover, according to the algorithm of U- filtering LMS of adaptation inverse control system, if we choose the best of the pole of the filter, will get more satisfied system response.更多还原