基于Quanser平台的旋转单级倒立摆控制系统的研究与实现  

Research and Implementation of Rotary Single Inverted Pendulum Control System Based on Quanser Platform

作　　者：戴彦[1,2] 吕宏丽[1,2] DAI Yan;LV Hong-li(Key Lab of Intelligent Data Information Processing and Control of Hebei Province,Tangshan University,Tangshan 063000,China;Key Lab of Intelligent Motion Control System of Tangshan City,Tangshan University,Tangshan 063000,China)

机构地区：[1]唐山学院河北省智能数据信息处理与控制重点实验室,河北唐山063000 [2]唐山学院唐山市智能运动控制系统重点实验室,河北唐山063000

出　　处：《唐山学院学报》2021年第6期7-10,33,共5页Journal of Tangshan University

基　　金：唐山市科技创新团队培养计划项目(20130208D)。

摘　　要：倒立摆系统的稳定控制是控制理论中的典型问题,在倒立摆的控制过程中能够有效反映控制理论中的许多关键问题,如非线性、鲁棒性、跟踪问题等。文章基于Quanser平台,在Matlab/Simulink中搭建了旋转单级倒立摆实时控制系统,对其进行了建模分析,并设计了PID控制器。从仿真结果可以看出,PID控制器实时控制效果较好,倒立摆摆杆角度响应平滑,抖动小。The stability control of the inverted pendulum system is a typical problem in control theory.During its control process,many key problems in the control theory could be effectively reflected,such as non-linearity,robustness and tracking problems,etc.Based on Quanser platform,a real-time control system of the rotary single inverted pendulum is built in Matlab/Simulink,and a PID controller is designed.The simulation results show that the PID controller has produced an effective real-time control,and the angle response of the inverted pendulum rod is smooth with small jitter.

关 键 词：Quanser平台 PID控制器 旋转单级倒立摆 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TP18[自动化与计算机技术—控制科学与工程]