【作者】 顾杰； 忻欣； 李玥； 刘延年；

【Author】 Jie Gu;Xin Xin;Yue Li;Yannian Liu;School of Automation, Southeast University;Faculty of Computer Science and Systems Engineering, Okayama Prefectural University;

【机构】 东南大学自动化学院； 冈山县立大学计算机科学与系统工程学院；

【摘要】 本文研究了旋转二级倒立摆的摆起控制,控制器设计基于二自由度的控制结构,其包含了一个非线性前馈控制器和一个最优反馈控制器。旋转二级倒立摆的摆起控制问题可以看作是运动规划和跟踪控制问题。轨迹规划阶段,基于理想模型将规划问题转化为含自由参数的非线性两点边界值问题,使用数值方法找到一个可行的运动轨迹,并得到前馈控制器。跟踪控制阶段,基于期望轨迹,得到线性时变的误差系统,使用典型的LQR控制器进行了反馈控制器的设计。前馈控制器与反馈控制器组合为最终的控制信号。数值仿真验证了其有效性。更多还原

【Abstract】 This paper studies the swing-up control of a rotary double pendulum. The control design is based on a two-degree-of-freedom control structure, which consists of a nonlinear feedforward controller and an optimal feedback controller. The swing-up problem can be regarded as a motion planning and tracking control problem. In the trajectory planning stage, the planning problem is transformed into a nonlinear two-point boundary value problem with free parameters. A feasible motion trajectory is found using numerical methods and a feedforward controller is obtained at the same time. In the tracking control stage, a linear time-varying error system is obtained based on the desired trajectory, and a typical LQR controller is applied to the design of the feedback control. The final controller is combined with the feedforward controller and the feedback controller. Simulations verify the effectiveness of the proposed strategy.更多还原