基于Matlab的倒立摆控制辅助教学实例设计  

Design for Assisted Teaching Instance of Inverted Pendulum Control Based on Matlab

作　　者：栾卉[1] 孙德立 孙慧慧[1] 随阳轶[1] 刘长英[1] LUAN Hui;SUN De-li;SUN Hui-hui;SUI Yang-yi;LIU Chang-ying(C1EE,Jilin University,Changchun 130061,China)

机构地区：[1]吉林大学仪器科学与电气工程学院,吉林长春130061

出　　处：《电气电子教学学报》2018年第4期89-93,共5页Journal of Electrical and Electronic Education

基　　金：吉林大学本科教学改革研究项目(项目编号:2017XYB099)

摘　　要：本文针对"连续与离散控制系统"课程的特点,利用Matlab的GUI工具设计了倒立摆控制教学辅助实例,能够对PID算法、线性二次调节器(Linear Quadratic Regulator)算法、H∞算法的参数进行设置,实现单级倒立摆的反馈控制仿真。该教学实例的应用加深了学生对倒立摆控制系统的认识,有助于理论知识的理解,提升学习兴趣,提高教学效果。According to the characteristics of Continuous and Discrete Control System course, this paper use Matlab software to design an assisted teaching instance of inverted pendulum control simulation . The teaching instance include thine contM method which are PID, LQR and H re algorithm to realize feedback control simulation for inverted pendulum. The application of this teaching instance deepens the students＂ understanding of the inverted pendulum control system, which helps to improve the understanding of theoretical knowledge, improves the learning interest and the teaching effect.

关 键 词：MATLAB 倒立摆控制 辅助教学 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程] G642[自动化与计算机技术—控制科学与工程]