基于固定时间降维观测器的倒立摆最优镇定控制  

Optimal Stabilization Control of Inverted Pendulum Based on Fixed Time Reduced-order Observer

作　　者：马益超 李斌 杨婷婷 MA Yichao;LI Bin;YANG Tingting(School of Engineering,Huzhou University,Huzhou 313000,China)

机构地区：[1]湖州师范学院工学院,浙江湖州313000

出　　处：《湖州师范学院学报》2023年第2期71-78,共8页Journal of Huzhou University

基　　金：浙江省教育厅一般科研项目(Y202146005);湖州师范学院校级科研项目(KX33033).

摘　　要：对具有非线性、多变量特性的一阶倒立摆系统镇定控制问题进行研究.设计一种基于固定时间降维观测器的最优镇定控制算法.针对实际的倒立摆速度信息与角速度信息不可测的问题,设计固定时间降维观测器,在降低观测器系统维数的同时,相较于传统的固定时间算法,其观测误差收敛时间可以任意配置,且与系统初值无关;设计最优控制性能指标函数并调节指标权重,结合降维观测器的状态反馈,实现倒立摆LQR最优镇定控制.Matlab仿真结果表明,该观测器算法与控制策略具有一定的有效性.通过中科深谷的一级倒立摆实物平台验证了该算法的实用性.In this paper,we study the first-order inverted pendulum system calming control prob­lem with nonlinear and multivariate characteristics,and design an optimal calming control algorithm based on a fixed—time reduced—order observer.Firstly,to address the problem of unmeasurable veloci­ty and angular velocity information of the inverted pendulum in practice,a fixed-time reduced-dimen­sional observer is designed,which reduces the order of the observer system while the observation error convergence time can be arbitrarily configured and independent of the initial value of the system com­pared with the traditional fixed-time algorithm.Secondly,the optimal control performance index function is designed and the index weights arc adjusted to combine Matlab simulation results show the effectiveness of the observer algorithm and control strategy in this paper.And further,the practicality of the proposed algorithm is verified by the first—level inverted pendulum physical platform of Zhongkc Deep Valley.

关 键 词：一阶倒立摆 降维观测器 固定时间观测器 LQR 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]