直线一级倒立摆系统控制仿真及实验研究（英文）  

The simulation and experimental research of the linear inverted pendulum system

作　　者：徐明 周滨 胡国良 Ming XU;Bin ZHOU;Guo-liang HU(Key Laboratory of Conveyance and Equipment,Ministry of Education, East China Jiaotong University,Nanchang 330013,China)

机构地区：[1]华东交通大学载运工具与装备教育部重点实验室,南昌330013

出　　处：《机床与液压》2018年第6期90-95,共6页Machine Tool & Hydraulics

基　　金：supported by the National Natural Science Foundation of China ( 51475165,11462004)

摘　　要：倒立摆是一个非线性、不稳定的系统,控制情况比较复杂,在航空航天,军工领域,机器人等智能控制方面有所应用。倒立摆也是检验新控制算法的理想实验平台。阐述了直线一级倒立摆系统的组成和工作原理。首先根据直线一级倒立摆的物理模型,经过力学分析和近似处理等方法变为数学模型,随后分别使用PID和Fuzzy模糊控制方法,在MATLAB/Simulink中搭建合理的仿真模块,进行相关仿真分析。对比两种控制算法对倒立摆系统稳摆的控制结果,找出控制效果最好的控制方案,并分析不同算法的特点。最后使用直线一级倒立摆实物进行实时控制实验,以验证仿真的结果是否和实际结果相符。Inverted pendulum is a nonlinear and unstable system.The control of the system is pretty complex and is applied in the aerospace,military,robots and other intelligent control area.Pendulum is the ideal platform for testing new control algorithms.This paper describes the composition and working principle of linear inverted pendulum system;Firstly,according to the physical model of the linear inverted pendulum,a mathematical model is built by mechanical analysis and approximate processing.Afterwards,using the PID and Fuzzy control build reasonable simulation module in MATLAB/Simulink.Comparing stabilization control results on inverted pendulum system of different algorithms,find the best control scheme to control and analyze the characteristics of different algorithms.Lastly,the experiment of real-time control over the single inverted pendulum is given to verify the simulation results and the actual results.

关 键 词：直线一级倒立摆 MATLAB PID控制 模糊控制 

分 类 号：TH137[机械工程—机械制造及自动化]