基于特征结构配置的倒立摆控制系统设计  

Design of Inverted Pendulum Control System Basedon Eigenstructure Assignment

作　　者：刘艳[1] 李银伢[2] 戚国庆[2] 

机构地区：[1]盐城师范学院物理科学与电子技术学院,江苏盐城224002 [2]南京理工大学自动化学院,江苏南京210094

出　　处：《计算机仿真》2011年第7期395-400,共6页Computer Simulation

基　　金：国家自然科学基金(60804019)

摘　　要：研究倒立摆优化控制问题,针对多变量、非线性、强耦合的倒立摆系统存在不稳定性的特点,在控制系统设计中建立倒立摆系统的非线性数学模型,并在平衡点附近将其进行线性化后得到线性化模型。考虑到外部干扰,进一步得到倒立摆系统的干扰线性化模型。为保证从扰动到倒立摆系统输出的H∞范数满足期望的抑制水平和闭环区域极点约束的条件下,应用特征结构配置算法,建立了状态反馈控制器设计的优化数学模型,并通过Matlab工具箱进行仿真,求得优化解。结果证明,所提出的方法是有效的。The problem of the control system design for a class of multivariable,nonlinear and strongly coupled inverted pendulum systems based on eigenstructure assignment is considered.First,the nonlinear mathematical model is constructed and the corresponding linearization model is obtained by linear approximation at the equilibrium point.Moreover,the linear model with a disturbance input is given for considering external disturbances.Then,the optimization problem of designing state feedback controllers is derived using eigenstructure assignment algorithm for the guarantees of the desired H∞ norm attenuation level from the disturbance to the inverted pendulum system output and the closed-loop regional pole constraint.The above optimization problem can be solved by Matlab optimization toolbox.Finally,the simulation results demonstrate the effectiveness of the proposed method.

关 键 词：倒立摆 状态反馈 特征结构配置 鲁棒性 区域极点约束 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]