基于鲁棒H_∞理论的三级倒立摆控制系统研究  

Research of Triple Inverted Pendulum Control System Based On H_∞ Robust Theory

作　　者：夏炎 谢玮 XIA Yan XIE Wei(School of Information and Electrical Engineering, Harbin Institute of Technology at Weihai,Weihai,Shandong 264209,Chin)

机构地区：[1]哈尔滨工业大学(威海)信息与电气工程学院,山东威海264209

出　　处：《计算技术与自动化》2017年第1期17-22,共6页Computing Technology and Automation

基　　金：中央高校基本科研业务费专项基金资助(HIT.NSRIF.2016106)

摘　　要：为了研究三级倒立摆的鲁棒控制方法,设计出三级倒立的状态反馈H_∞控制器。仿真结果表明三级倒立摆具有良好的鲁棒稳定性、鲁棒性、抗干扰性,实现了对三级倒立摆的稳定控制。同时运用了状态空间极点配置法和LQR最优控制法,分别设计出针对三级倒立摆的控制器。经比较研究:采用状态反馈H_∞方法设计的三级倒立摆控制器的控制效果非常好,使其具有较小的振荡和超调量,倒立摆起摆迅速,稳定控制性能优良。In order to study the robust control of triple inverted pendulum, its state feedback H∞ controller was designed. The simulation results show that it has good robust stability, robustness and anti--interference, thus achieving a stable control of triple inverted pendulum. At the same time, the controllers for triple inverted pendulum were designed by using the state space poles configuration method and LQR optimal control method, respectively. The comparison shows that the controller using the method of state feedback H∞ has smaller oscillation and overshoot, the inverted pendulum is rapid, and the stable control performance is good.

关 键 词：H∞控制理论 三级倒立摆 状态反馈 控制器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]