平面二级倒立摆的保性能控制  

Guaranteed cost control of plane two rods inverted pendulum

作　　者：葛动元[1,2] 姚锡凡[2] 

机构地区：[1]邵阳学院机械与能源工程系,邵阳422004 [2]华南理工大学机械与汽车工程学院,广州510640

出　　处：《机械设计与制造》2010年第1期193-195,共3页Machinery Design & Manufacture

基　　金：国家高技术研究发展计划(863计划)专项经费资助项目(2007A04Z111)

摘　　要：摆系统是一个强耦合、非线性、高阶次的不稳定系统,常规控制方法如PID算法、最优控制算法等。由于摆系统的数学模型是在忽略了次要因素的基础上得出来的,当系统受到外部的干扰时,这些次要因素的影响比较突出,控制系统采用基于线性矩阵不等式的方法设计一系统性能上界最小的最优保性能控制律,以改善系统的瞬态性与鲁棒性。然后采用Matlab的工具箱设计该控制律,并对系统进行仿真。最后采用VC++6.0编写控制程序,实现对平面二级摆系统的实时控制。Pendulum is typical non-stability system which is strong coupled,non-linear and higher order. There are many conventional operators such as PID operator,optimal control operator and so on. Because mathematics model of the pendulum system is obtained by neglecting some secondary factors ,influence of which would be serious with external perturbation. Linear matrix inequalities was adopted to design guaranteed cost control law which upper-bound of performance is least for pendulum system with uncertain parameter,so as to improve instantaneous performance and robust performance of it. Then the control law is designed and simulation is carried out with Matlab Box tool. Finally the real time control of the plane two rods inverted pendulum is realized with VC＋＋6.0 programming.

关 键 词：渐进稳定性 LYAPUNOV函数 线性矩阵不等式 最优保性能控制律 凸集 

分 类 号：TP271.8[自动化与计算机技术—检测技术与自动化装置] TP13[自动化与计算机技术—控制科学与工程]