基于广义扩展线性化方法的单级倒立摆位移控制  

Displacement Control of Inverted Pendulum Based on Generalized Extended Linearization

作　　者：李秋菊[1] 刘楷安[1] 

机构地区：[1]华北水利水电学院,河南郑州450011

出　　处：《华北水利水电学院学报》2011年第5期95-98,共4页North China Institute of Water Conservancy and Hydroelectric Power

基　　金：河南省重大科技攻关项目(092102210234);华北水利水电学院青年科研基金项目(HSQJ2009010)

摘　　要：针对单级倒立摆系统的位移控制问题,运用拉格朗日方程建立了单级倒立摆系统的动力学模型,并对该非线性的动力学模型进行了广义的扩展线性化处理.利用MATLAB符号语言,设计并给出基于非线性反馈的单级倒立摆系统位移控制器.仿真结果表明,控制器能够达到期望的控制效果,且具有一定的鲁棒性.Aiming at the displacement control of inverted pendulum system,the dynamic model of the system was established by Lagrange equation,and then the nonlinear dynamic model was treated by generalized extended linearization.A displacement controller of the inverted pendulum based on nonlinear feedback was designed using the symbolic language of MATLAB.The result of simulation showed that the controller could achieve the desired control effect and had certain robustness.

关 键 词：单级倒立摆 位移控制 扩展线性化 仿真 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]