二级倒立摆状态反馈控制器设计优化方法  

Optimal State Feedback Controller Design Method of Two-stage Inverted Pendulum

作　　者：彭秀艳[1] 胡忠辉[1] 姜辉[1] 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001

出　　处：《控制工程》2012年第3期462-466,共5页Control Engineering of China

摘　　要：设计了一种二级倒立摆的状态反馈控制器。研究了一种基于单纯形算法的参数优化方法。首先给出了二级倒立摆系统模型并分析了系统特性,设计了状态反馈控制器,提出基于ITAE(Integrated Time&Absolute Error)性能指标应用单纯形优化方法对状态反馈控制参数进行优化设计,以快速准确地得到状态反馈阵,并利用固高GLIP2002型直线倒立摆系统进行仿真分析和二级倒立摆系统控制实验,实现了二级倒立摆优化控制。提出的一种如何寻找使系统稳定且具有较好性能的状态反馈控制参数这一控制领域重要问题的解决方法,避免了极点配置法手动试凑方法调试参数困难的问题,对非线性、强耦合运动体的控制具有理论意义和应用价值。An optimization algorithm is proposed for resolving a problem of parameters debugging in the state feedback controller for controlling a two stage inverted pendulum. Firstly, the system characteristics of two stage inverted pendulum systems are discussed. Then, based on the performance index of integrated time and absolute error（ITAE） , parameter optimization method of state feedback control is investigated by simplex method. Finally, the simulation analysis and experiments is maken. Compared with tradition- al pole allocation method, the proposed method can be get feedback matrix speediness and exactness, avoids the problem of parameters debugging by manually. Thus, the optimization of two stage inverted pendulum is realized. It is an important to see how to find the state feedback control parameters for system stable and a good performance in the field of control. It also has theoretical significance and practical value for dealing with nonlinear and strong coupling motion control problems.

关 键 词：ITAE性能指标 单纯形优化算法 二级倒立摆 状态反馈 极点配置 

分 类 号：TP27[自动化与计算机技术—检测技术与自动化装置]