单级倒立摆系统的仿真分析  

Simulation Analysis of Single-stage Inverted Pendulum System

作　　者：李艳杰[1] 佟福奇 Li Yanjie;Tong Fuqi

机构地区：[1]沈阳理工大学机械工程学院,沈阳110159

出　　处：《上海电气技术》2021年第1期44-50,共7页Journal of Shanghai Electric Technology

摘　　要：建立了单级倒立摆系统的非线性数学模型,经线性化处理得到其状态空间表达式。然后应用Matlab/Simscape软件建立了单级倒立摆系统的半实物仿真模型,在Simulink环境中进行仿真分析,对比双比例积分微分控制算法、极点配置控制算法、线性二次型调节器控制算法对系统性能的影响。仿真分析结果表明,对于单级倒立摆系统,三种控制算法都具有较好的控制性能。The nonlinear mathematical model of the single-stage inverted pendulum system was established, and its state space expression was obtained by linearization.Then, a semi-physical simulation model of the single-stage inverted pendulum system was established by using Matlab/Simscape software.Simulation analysis was carried out in Simulink environment, and the influences of dual proportional integral derivative control algorithm, pole assignment control algorithm, and linear quadratic regulator control algorithm on system performance were compared.The simulation analysis results show that for the single-stage inverted pendulum system, the three control algorithms have good control performance.

关 键 词：倒立摆 仿真 分析 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]