基于Matlab GUI的倒立摆系统仿真平台设计  

Simulation platform design of inverted pendulum system based on Matlab GUI

作　　者：陈梅 王健 宗广灯 CHEN Mei;WANG Jian;ZONG Guangdeng(School of Engineering,Qufu Normal University,Rizhao 276826,China;Department of Economic Management,Shandong Water Polytechnic,Rizhao 276826,China)

机构地区：[1]曲阜师范大学工学院,山东日照276826 [2]山东水利职业学院经济管理系,山东日照276826

出　　处：《现代电子技术》2022年第18期143-147,共5页Modern Electronics Technique

基　　金：国家自然科学基金资助项目(51705286);山东省2018年研究生导师指导能力提升项目(SDYY18125)。

摘　　要：倒立摆系统是“自动控制原理”课程中的典型控制系统,极点配置及LQR是常用的控制器设计方法。极点配置是通过设置极点确定状态反馈矩阵,LQR是通过设置L,Q参数确定最优反馈矩阵。为了快速确定倒立摆系统的反馈矩阵及闭环反馈系统,文中通过Matlab GUI编程设计一种倒立摆系统仿真平台。该仿真系统通过设置倒立摆的参数,可直接确定系统状态方程;通过对系统进行极点设置和L,Q参数设置,可直接求出相应的系统状态反馈矩阵;设置三种不同的输入信号,则能够显示对应的响应曲线图。所设计的倒立摆仿真平台具有图形化的界面,操作方便、应用灵活,可以根据设置系统的不同参数自动求解相应的系统状态参数,并直观地显示其对应的响应曲线。该仿真平台可用于课堂教学及实验教学中,以加深学生对倒立摆系统控制的理解,提高学生分析和解决问题的能力。Inverted pendulum system is a typical control system in the course of "automatic control principle". Pole assignment and LQR are commonly-used controller design methods. Pole assignment can determine the state feedback matrix by setting poles,and LQR can determine the optimal feedback matrix by setting L and Q parameters. In order to quickly determine the feedback matrix and closed-loop feedback system of inverted pendulum system,the simulation platform of inverted pendulum system is designed by Matlab GUI programming. The simulation system can directly determine the system state equation by setting the parameters of the inverted pendulum,and the state feedback matrix of the system can be obtained by setting poles and parameters L and Q respectively. The corresponding response curve is displayed by setting three different input signals. The designed inverted pendulum simulation platform has graphical interface,convenient operation and flexible application. According to the different parameters, the system can automatically solve the corresponding parameters and visually display the corresponding response curve. The simulation platform can be used in classroom teaching and experimental teaching to deepen students′ understanding of inverted pendulum system control and improve students′ ability to analyze and solve problems.

关 键 词：Matlab GUI 倒立摆系统 极点配置 LQR控制 参数设置 状态方程 反馈矩阵 响应曲线 

分 类 号：TN876-34[电子电信—信息与通信工程] TP391.9[自动化与计算机技术—计算机应用技术]