一种基于鲁棒性设计的一阶倒立摆双闭环控制方法  

A Robust Double-loop Control to Single Inverted Pendulum

作　　者：蔡增威[1] 刘德春[2] 张晓华[1] 

机构地区：[1]哈尔滨工业大学,黑龙江哈尔滨150001 [2]南阳理工学院,河南南阳473000

出　　处：《自动化技术与应用》2004年第4期11-15,共5页Techniques of Automation and Applications

摘　　要：本文在利用牛顿运动定律建立起一阶倒立摆数学模型的基础上 ,对精确模型进行了工作点附近的线性化与降阶处理 ;以摆角为内环、小车位移为外环 ,利用鲁棒控制理论设计出确定参数 (摆长L和摆杆质量m)下的内、外环PD控制器 ;The paper linearizes and simplifies the mathematics model of the single inverted pendulum , what is found according to the second law of Newton , nearby the work-point and then uses the angle of the pendulum as the inner-loop, uses the displacement of the small car as the outer-loop, makes use of the robust control theories to design the PD controller of the inner -loop and the outer-loop to the certain parameters the length and the quantity of the pole. Finally, the digital imitations are given to illustrate the effectiveness of the method.

关 键 词：一阶倒立摆 鲁捧控制 

分 类 号：TP183[自动化与计算机技术—控制理论与控制工程]