直线二级倒立摆系统的H_∞鲁棒最优控制  

H_∞ robust optimal control for linear double inverted pendulum systems

作　　者：王春平 陈海飞 高金凤 黎先林 

机构地区：[1]浙江理工大学科技与艺术学院,浙江杭州310014

出　　处：《机电工程》2017年第5期425-431,共7页Journal of Mechanical & Electrical Engineering

基　　金：国家自然科学基金资助项目(61374083);浙江理工大学科技与艺术学院资助项目(KY2016015)

摘　　要：针对存在模型参数不确定性和外部扰动的直线型二级倒立摆系统的稳摆控制问题,对如何实现倒立摆系统鲁棒稳定的同时,还保证其达到期望的最优控制性能和H_∞性能指标的稳定性控制问题进行了研究。基于状态反馈、最优控制和H_∞鲁棒控制方法设计了一个H∞鲁棒最优控制器,用来实现对该倒立摆系统的稳摆控制。利用设计的控制器,基于倒立摆实验平台和Matlab数值仿真平台,使用该控制器来实现系统的控制并对稳定倒立摆的过程进行了验证。研究结果表明,该控制器能较好的实现对直线型二级倒立摆的稳摆控制,并对受控系统的模型参数摄动有较好的鲁棒性,同时还能利用最优的控制作用达到期望的H_∞性能指标。Aiming at the steady control problem, how to realize the robust stability and ensure the optimal H∞ control performance index about the linear double inverted pendulum systems with parameter uncertainties and external disturbance were considered. Based on the state feedback, optimal control and H∞ robust control methods, H∞ robust optimal state feedback controller was designed to realize the steady control of the inverted pendulum system. By using the designed controller, based on the inverted pendulum experimental platform, the process of controlling and stabilizing the inverted pendulum was verified. The results indicate that the proposed controller can stabilize the linear double inverted pendulum system very well and has good robust property and expected H∞ performance index for the controlled system with parameter uncertainties.

关 键 词：直线型二级倒立摆 H∞鲁棒控制 状态反馈 最优控制 

分 类 号：TH39[机械工程—机械制造及自动化] TP24[自动化与计算机技术—检测技术与自动化装置]