基于模型匹配技术的倒立摆系统  

Inverted pendulum system based on the model matching technology

作　　者：刘田踪[1] 

机构地区：[1]电子科技大学自动化工程学院,四川成都611731

出　　处：《电子测试》2010年第10期9-13,59,共6页Electronic Test

摘　　要：倒立摆系统在控制理论研究中具有重要的价值,在实际应用中,同样也具有重要的工程实践意义,其控制方法和思路在航空航天、军工、机器人领域以及一般工业控制过程中都有广泛的用途。本文以单级直线型倒立摆系统为例,在讨论其数学模型的基础上,利用模型匹配技术对系统传递函数的零极点进行合理配置,使控制系统保持稳定;并通过MATLAB的SIMULINK工具对配置后的系统进行仿真,取得了理想的仿真结果,证明了配置的合理性;最后用运算放大器实现了补偿器的硬件电路。Inverted pendulum system has significant value in the control theory and practical application and its control methods and ideas are used widely in aerospace,military,robots and industrial control process. The single-stage,linertype and inverted pendulum was taken as an example in this paper. Based on the discussion of the mathematical model of the system,model matching technique was used to implement the reasonable configuration of the poles and zeros which belong to the system transfer function,in order to maintain the overall system stable. And then the configured system was simulated by the MATLAB-SIMULINK tools and the result of the simulation was satisfactory,which proved the correctness of the configuration. Finally,an op-amp circuit was used to implement the compensators.

关 键 词：倒立摆 模型匹配 仿真 实现 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]