旋转式倒立摆系统的算法研究及仿真  

作　　者：江晨[1] 王富东[1] 

机构地区：[1]苏州大学机电工程学院,江苏苏州215021

出　　处：《工业控制计算机》2010年第5期54-56,共3页Industrial Control Computer

摘　　要：倒立摆主要有直线式倒立摆、旋转式倒立摆、平面倒立摆等。选取旋转式倒立摆作为研究对象,介绍了系统的机械结构部分,通过分析力学中的拉格朗日法建立了系统的数学模型,研究了两种现代控制算法在旋转式倒立摆系统中的应用:极点配置法及LQR法,并运用MATLAB和SIMULINk工具在两种方法下进行了仿真实验,仿真结果表明:这两种算法在旋转式倒立摆系统的控制中都是可行的,而且效果令人满意。The inverted pendulum system mainly includes linear one,rotational one,planar one and etc.In this paper the rotational one as study object,present its mechanical structure,establish its mathematic model using the Lagrange theory in analysis dynamics,study on the application of two kinds of modern control arithmetic in rotational inverted pendulum system：Pole Configuration Method LQR Method.Finally,by using MATLAB and SIMULINK,emulational experiments are put up aimed at the two methods,the result of which indicate that：the control of the two methods in inverted pendulum system are doable and their effects turn up trumps.

关 键 词：旋转式倒立摆 拉格朗日法 数学模型 极点配法 LQR法 MATLAB仿真 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]