单级倒立摆系统的设计与仿真  

Design on Single Inverted Pendulum System in Simulation Environment

作　　者：孙恺[1] 沈精虎[1] SunKai;Shen Jinghu(Qingdao University,Qingdao 266071,China)

机构地区：[1]青岛大学,山东青岛266071

出　　处：《煤矿机械》2018年第9期8-11,共4页Coal Mine Machinery

摘　　要：运用现代控制理论研究单级倒立摆的平衡控制问题,在设计过程中,首先对倒立摆进行力学分析,建立其空间模型,确立其输入输出变量以及各状态变量,然后根据系统动态响应性能指标设计状态反馈、输出反馈、状态观测器等倒立摆的控制器。最后通过MATLAB/Simulink对倒立摆的模型进行仿真,确定单级倒立摆系统的可行性。Using modern control theory to study the balance control problem of single inverted pendulum,in the process of design,the spatial model of inverted pendulum is established,its input and output variables and state variables are established, and then the state feedback,output feedback,state observer are designed according to the dynamic response performance index of the system. The controller of the inverted pendulum. Finally,the model of the inverted pendulum is simulated by MATLAB/Simulink,and the feasibility of the single inverted pendulum system is determined.

关 键 词：单级倒立摆 现代控制理论 MATLAB/SIMULINK 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]