事件触发控制在倒立摆系统中的仿真与实验  

Simulation and experiment of event-triggered control for inverted pendulum system

作　　者：于灏[1] 欧阳利[1] 郝飞[1] 

机构地区：[1]北京航空航天大学自动化科学与电气工程学院,北京100083

出　　处：《北京航空航天大学学报》2016年第10期2107-2117,共11页Journal of Beijing University of Aeronautics and Astronautics

基　　金：国家自然科学基金(61573036;61174057);北京市自然科学基金(4112034);中央高校基本科研业务费专项资金~~

摘　　要：从理论、仿真、实验3个角度考虑了事件触发控制对于一级直线倒立摆系统的控制效果,进而说明事件触发控制的可行性与实用性。首先,借助线性矩阵不等式给出了事件条件参数的设计方法,并对触发时间间隔下界进行了估计。其次,通过Simulink仿真说明了在无量化效应时理论结果的有效性。最后,通过实验研究了量化效应的影响,发现其对于基于模型控制器的负面作用。实验结果表明,对于实际倒立摆系统,混合型事件条件及零阶保持控制器更加适用,它们可以在保证系统稳定性的前提下有效降低信息的通信频率。上述结果体现了事件触发控制的潜在实用价值。This paper investigates the event-triggered control for single linear inverted pendulum system from theoretical,simulation and experimental points of view to illustrate the feasibility and practicability of event-triggered control. Firstly,the parameter in event condition was designed based on linear matrix inequality,and the estimation of lower bound of inter-event times was provided. Secondly,the feasibility of theoretical results without quantization is illustrated by Simulink simulations. Finally,the influence of quantization was studied by experiments,which is quite negative on the system with model-based controller. According to the experiment results,the mixed event condition and zero-order-hold controller are more suitable for practical inverted pendulum system. They can guarantee the stability with efficient reduction of communication frequency,which reflects the potential practical value of event-triggered control.

关 键 词：倒立摆 状态反馈 事件触发控制 基于模型网络化控制 SIMULINK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]