电液比例倒立摆控制系统研究  

Study on Electro-hydraulic Proportional Control System of Inverted Pendulum

作　　者：张建卓[1] 刘佳[1] 

机构地区：[1]辽宁工程技术大学机械工程学院,辽宁阜新123000

出　　处：《控制工程》2015年第4期664-667,共4页Control Engineering of China

摘　　要：针对倒立摆控制及应用问题,设计电液比例倒立摆控制系统。以电液比例控制系统代替电机伺服系统,将单级倒立摆控制应用到电液比例控制系统中,应用PID和模糊控制理论设计整个电液比例倒立摆系统控制器。通过建立电液比例倒立摆的非线性模型,分别用PID和模糊控制方法控制倒立摆的位移和角度,从而达到同时控制位移和角度的要求。在AMESim软件下建立电液比例控制系统模型,Simulink软件下建立倒立摆系统模型进行联合仿真。仿真结果很好的验证了控制器的正确性和有效性。A control system of electro-hydraulic proportional is designed for the control and application of the inverted pendulum. The single stage linear inverted pendulum control is applied by replacing the servo motor system with the electro-hydraulic proportional control system. The electro-hydraulic proportional system controller of the inverted pendulum is designed with the application of PID and fuzzy control theory. The non-linear model of the electro-hydraulic proportional inverted pendulum system is established, and the PID and fuzzy control methods are used to control the displacement and angle at the same time. The electro-hydraulic proportional control system model and the inverted pendulum control system model are established by the AMESim and Simulink software, respectively. The co-simulation results verify the correctness and validity of the controller.

关 键 词：单级倒立摆 电液比例控制 非线性 仿真 

分 类 号：TP293[自动化与计算机技术—检测技术与自动化装置]