倒立摆系统基于能量控制的起摆控制策略研究  

Swing-up Control Strategy Analysis of Inverted Pendulum Based on Energy Control

作　　者：高皜[1] 曹琳[1] 曹茂永[2] 

机构地区：[1]山东省科学院海洋仪器仪表研究所,山东青岛266001 [2]山东科技大学电气与自动化学院,山东青岛266590

出　　处：《山东科技大学学报（自然科学版）》2016年第6期95-100,共6页Journal of Shandong University of Science and Technology(Natural Science)

基　　金："十二五"国家科技支撑计划项目(2012BAB13B04)

摘　　要：针对直线一级小车倒立摆系统起摆阶段的特点,设计基于能量控制的起摆控制器。通过引入"小车位移极限"、"小车速度极限"和"系统能量保持"的概念,对纯能量控制策略进行了优化。在起摆过程中,既能保证摆杆的快速起稳摆,又能确保小车位移在有限长的范围内。利用MATLAB对系统进行仿真分析,并运用英国Feedback公司生产的倒立摆机械实物系统进行实验验证。结果证明,该控制器能够实现小车倒立摆系统的快速平稳起摆。Based on the swing-up characteristics of the linear single inverted pendulum, a swing-up controller based on energy control was designed.By introducing the concepts of ＂Cart Potential Well＂, ＂Velocity Well＂ and ＂Energy Maintenance＂, the pure energy-based control strategy was optimized.The design not only ensured the quick and smooth swing-up of the pendulum rod but also the displacement of the cart within a limited length during the whole swing-up period.Then the pendulum system was simulated by using MTALAB and real-time experiments were made by using the inverted pendulum manufactured by the British Feedback company.The experimental results indicate that the proposed controller is able to achieve the quick and smooth swing-up of the inverted pendulum.

关 键 词：倒立摆 能量起摆控制优化 MATLAB仿真 实物验证 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]