基于二级倒立摆的现代控制理论课程设计  

Curriculum design of modern control theory based on the double inverted pendulum

作　　者：庞岩[1] 周文雅[1] 彭嗣婷 PANG Yan;ZHOU Wen-ya;PENG Si-ting(State Key Laboratory of Structural Analysis for Industrial Equipment, Dalian University of Technology, Dalian 116024, China)

机构地区：[1]大连理工大学工业装备结构分析国家重点实验室,辽宁大连116024

出　　处：《实验室科学》2017年第6期41-44,共4页Laboratory Science

基　　金：国家自然科学基金资助项目(项目编号:61273098);中央高校基本科研业务费(项目编号:DUT16QY23);大连理工大学教改基金项目(项目编号:YB2016082)

摘　　要：从工业革命以来,科技迅猛发展,机器逐渐代替手工,自动控制将人类从繁琐的劳务工作中解脱出来,随着科技的发展,逐渐成为了一个重要的学科,作为一门应用性极强的学科,各大高校都有必要设置实验课程来提高学生对理论课程的理解。倒立摆实验平台是一个非线性、高阶次、多变量、强耦合的典型不稳系统,由于其原理简单,操作方便的特点,成为了高校和研究所验证控制方法是否有效的理想平台。研究表明,三级倒立摆稳定难以做到,一级倒立摆稳定过于简单,因此采用好的控制方法,来实现二级倒立摆的实时稳定控制,通过这种方式,可以很好地锻炼学生的思维能力和动手能力,做到灵活运用理论知识。The technology has developed quickly since the industry revolution,machines replace handwork gradually,automatic control liberates people from boring handwork,and becomes an important subject.As a practical curriculum,colleges and universities should set experiments training to improve students’understanding of theories.The inverted pendulum system is a nonlinear,high order,multivariable,strong coupling characteristic unstable system.Because of the simple operating principle and convenient operation,it is widely used in the experimental field of control theory.In addition,it is the ideal platform to verify the efforts of new control methods in universities and research institutions.According to investigation,the triple inverted pendulum is hard to balance and the single is too easy.Students can exercise their innovation ability and practical ability to apply the theory flexibly by realizing the real-time balance control with suitable control methods.

关 键 词：控制理论 二级倒立摆 课程设计 

分 类 号：G482[文化科学—教育学]