悬臂式倒立摆H_∞控制设计及仿真  

Control Design and Simulation of Cantilever Type Inverted Pendulum

作　　者：张克涵[1] 顾李冯[1] 王司令[1] 

机构地区：[1]西北工业大学航海学院,陕西西安710072

出　　处：《现代电子技术》2011年第9期160-163,167,共5页Modern Electronics Technique

摘　　要：针对旋臂式倒立摆的稳定控制问题,建立了二阶旋臂式倒立摆系统的数学模型,运用连续系统线性鲁棒H∞最优控制理论,通过设计旋臂式倒立摆控制系统的鲁棒调节器,使倒立摆系统在闭环状态下稳定并具有较强的鲁棒稳定性。运用Matlab进行仿真,通过与传统线性二次型最优控制配置方法相比较,结果发现鲁棒H∞最优控制效果更好。The second-order mathematic model for cantilever type inverted pendulum is built in this paper to sdabilize and control the cantilever type inverted pendulum.With the theory of linear robust optimal control,the systematic linear robust optimal controller is designed for the stability of the pendulum under the closed loop state.The simulation of the robust control was performed by means of Matlab.The final result shows that the robust optimal method is more effective than the traditional linear quadratic optimal control method.

关 键 词：旋臂式倒立摆 鲁棒控制 线性系统二次最优控制 线性矩阵不等式 

分 类 号：TN911-34[电子电信—通信与信息系统] TM571.62[电子电信—信息与通信工程]