单级倒立摆控制系统的Riccati寻优设计法及MATLAB仿真  

Make Use of Riccati Method to Design Inverted Pendulum Control System and Simulate to it by MATLAB

作　　者：郑长义[1] 刘宏[1] 

机构地区：[1]吉林师范大学信息技术学院,吉林四平136000

出　　处：《吉林师范大学学报（自然科学版）》2005年第3期65-67,共3页Journal of Jilin Normal University:Natural Science Edition

摘　　要：本文构造了一个单级倒立摆系统,欲对其实施垂直于地面的平衡控制.首先对该系统进行了数学建模和线性化处理,然后根据系统约束条件,采用Riccati寻优法,利用MATLAB计算出全状态反馈控制律,根据这个控制律,给系统设计了一个降维观测器,最后使用SIMULIK对整个控制系统进行了仿真.仿真结果表明,该控制系统鲁棒性很强.In this text a single class inverted pendulum control system is constructed, want to it to be keep in the balance of the perpendicularity state. First the system is modeled and linear the processing to that model, then the controller of the system is designed by the Riccati method according to the system restriction condition , a whole states- space feedback control law is computed by the MATLAB.Based on this, the state - space observer of the system is designed, the end work is simulated to the whole control system by the SIM U LIK of MATLAB. the result of simulation show that control system is very strong robust.

关 键 词：单级倒立摆 Riccati寻优 状态观测器 MATLAM仿真 MATLAB仿真 倒立摆控制系统 RICCATI 寻优法 单级 状态反馈控制律 设计法 倒立摆系统 线性化处理 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TP273.2[自动化与计算机技术—控制科学与工程]