XZ-Ⅱ型旋转式倒立摆智能非线性控制实验  

Intelligent Nonlinear Control Experiment of XZ-ⅡRotary Inverted Pendulum

作　　者：陈虹丽[1] 刘凌风 夏晓靖 王显峰[1] CHEN Hongli;LIU Lingfeng;XIA Xiaojing;WANG Xianfeng(College of Intelligent Systems Science and Engineering,Harbin Engineering University,Harbin 150001,China;Shanghai Electro-Mechanical Engineering Institute,Shanghai 201109,China)

机构地区：[1]哈尔滨工程大学智能科学与工程学院,哈尔滨150001 [2]上海机电工程研究所,上海201109

出　　处：《实验室研究与探索》2021年第12期5-8,共4页Research and Exploration In Laboratory

基　　金：国家自然科学基金项目(51409062);中央高校基金(3072020CF0408);黑龙江省科学基金项目(F2017008)。

摘　　要：“现代控制理论”实验课中实验项目“旋转式倒立摆的状态反馈控制器和状态观测器设计”平台对非线性控制实验进行教学改进,通过坐标变换和设计虚拟控制进行非线性输出(负)反馈控制研究,包括Kalman滤波器及应用、动态补偿器设计及稳定条件、智能非线性神经网络建模及应用,基于DSP控制器对一阶旋转式倒立摆系统进行在线控制等。通过课程达成度评价表的成绩定量分析对实验课程目标/对应指标点达成情况,并分析及解决学生实验出现的问题。Aiming at the nonlinear control experiment,teaching improvement is carried out with the help of the experimental project“State Feedback Controller and State Observer Design of Rotary Inverted Pendulum”in the experimental class of“Modern Control Theory”.Firstly,nonlinear coordinate transformation and design virtual control are performed.Output(negative)feedback control research(it is not necessary to be transformed into a linear system),includes Kalman filter and application,dynamic compensator design and stability conditions,intelligent nonlinear neural network modeling and application,etc.,can be On-line control of the first-order rotary inverted pendulum system is controlled based on DSP controller.Finally,the achievement quantitative analysis method of the course achievement evaluation table is used to analyze the achievement of the experimental course goals/corresponding index points and the problems in the student experiment.

关 键 词：XZ-Ⅱ型倒立摆 智能非线性 输出反馈控制 

分 类 号：G642.0[文化科学—高等教育学]