单级倒立摆稳定控制及其联合仿真  

Stability Control of Single Inverted Pendulum and Union Simulation

作　　者：李秋菊[1] 党培[2] 

机构地区：[1]华北水利水电学院电力学院,河南郑州450045 [2]河南工业大学机电工程学院,河南郑州450005

出　　处：《测控技术》2011年第11期44-47,共4页Measurement & Control Technology

基　　金：水利部公益性行业科研专项基金资助项目(200801011);河南省科技重大攻关资助项目(092102210234);华北水利水电学院青年科研基金资助项目(HSQJ2009010)

摘　　要：针对倒立摆系统的稳定控制,提出了一种基于广义扩展线性化的非线性控制方法,设计了非线性状态反馈控制器。同时利用ADAMS软件建立单级倒立摆虚拟样机模型,通过其输入输出接口实现对Matlab的通信,并进行了ADAMS/Controls控制模块与Matlab联合仿真分析。仿真结果验证了控制方法的有效性,且更接近物理样机控制效果,为控制方案的仿真分析和改进提供了一种新途径。According to the requirements of stability control on single inverted pendulum system, a general technique to design nonlinear feedback controllers was given, which based on the generalized extended linearization. At the same time, the virtual prototype of single inverted pendulum was established in ADAMS, the communication with Matlab is realized through the input/output interface, then the union simulation with the controller was realized. The result of simulation proved the validity of this control method, which was more close to the real system and provided a new way for control system simulation.

关 键 词：倒立摆 非线性 广义扩展线性化 虚拟样机 联合仿真 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]