自平衡控制系统的平衡性仿真  

Simulation of self-balance control system’ balance

作　　者：杨兴明[1] 余忠宇[1] 

机构地区：[1]合肥工业大学计算机与信息学院,合肥230009

出　　处：《计算机工程与应用》2011年第24期245-248,共4页Computer Engineering and Applications

基　　金：安徽省自然科学基金(No.090412041)

摘　　要：自平衡两轮移动式倒立摆是三个自由度的强耦合和非线性的自然不稳定系统。虽然现代控制论中的状态反馈的极点配置对两轮移动式倒立摆的平衡起到了一定的控制作用,但是在现实多干扰的外界环境中,控制论中极点配置算法的控制作用就很难满足实际控制需要。针对两轮移动式倒立摆数学模型,给出详细的力学推导并在Simulink环境下,对状态反馈的极点配置法控制的两轮移动式倒立摆处于不同的坡度平衡情况进行了仿真和分析。Self-balance two-wheeled mobile inverted pendulum is a kind of natural instability systems which are strong-coupling and nonlinear with three degree of freedom.Pole placement of state feedback in the modern cybernetics plays a certain role in balance of two-wheeled mobile inverted pendulum,but the role of pole placement in the cybernetics is difficult to meet the need of realistic control,for there are a lot of disturbances in the realistic outside circumstances.To the mathematic mod-el of two-wheeled mobile inverted pendulum,this paper gives derivations of mechanics in detail and in the environment of Simulink,simulates and analyzes balance of two-wheeled mobile inverted pendulum which is controlled by pole placement of state feedback in different gradient.

关 键 词：状态方程 极点配置 平衡 SIMULINK 

分 类 号：TP27[自动化与计算机技术—检测技术与自动化装置]