基于永磁同步电动机驱动的倒立摆控制与仿真  

Control and Simulation of Inverted Pendulum Driven by PMSM

作　　者：王家军[1] 何杰[1] 

机构地区：[1]杭州电子科技大学自动化研究所,浙江杭州310018

出　　处：《杭州电子科技大学学报（自然科学版）》2009年第6期78-82,共5页Journal of Hangzhou Dianzi University：Natural Sciences

基　　金：浙江省自然科学基金资助项目(Y1080222)

摘　　要：在分析永磁同步电动机和单维倒立摆数学模型的基础上,将永磁同步电动机的驱动性能与倒立摆的动态特性综合考虑,采用双闭环PID控制,实现了倒立摆系统的稳定和跟踪控制。仿真结果证明了该控制方法的有效性。On the basis of analysis of mathematical model of permanent magnet synchronous motor(PMSM) and single inverted pendulum,the drive performance of PMSM and the dynamic characteristics of inverted pendulum were comprehensive considered.Double-loop PID control was adopted for stabilizing and tracking control of the inverted pendulum system.The simulation results prove the effectiveness of the control model.

关 键 词：永磁同步电动机 倒立摆 双闭环 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]