二级倒立摆数字控制器仿真设计  

Simulation design of double inverted pendulum digital controller

作　　者：牛月兰[1] 冯巧玲[1] 吴娟[1] 

机构地区：[1]郑州轻工业学院电气信息工程学院,河南郑州450002

出　　处：《郑州轻工业学院学报（自然科学版）》2008年第1期96-99,共4页Journal of Zhengzhou University of Light Industry:Natural Science

基　　金：郑州轻工业学院2006年科研基金项目

摘　　要：针对二级倒立摆系统阶次高、非线性严重、不稳定、用经典控制理论设计控制器极为困难等问题,运用现代控制理论,并以Matlab语言为辅助工具,在计算机上进行二级倒立摆数字控制器的分析与设计.通过对二级倒立摆数字最优控制器和降阶观测器的设计,使系统的稳定性和性能指标达到设计要求.仿真结果表明,该设计使系统稳定,而且超调量小,调节时间短.Double inverted pendulum has high-order, nonlinear serious and unstable characteristics. The design of controller is extremely difficult by using the classical control theory, but the use of modern control theory is very effective. By use of modern control theory and Matlab aided design tools, the double inverted pendulum digital controller analysis and design was performed on computer. Through the double inverted pendulum optimal controller design, reduced-order observer design, so that the stability and performance indicators to achieve the designed requirements. Simulation results show design of the digital controller have had stability, small control volume and short adjustment time.

关 键 词：二级倒立摆 数字控制器 降阶观测器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]