旋转倒立摆参数辨识与建模方法研究  

Research on Parameter Identification and Modeling Method ofRotating Inverted Pendulum

作　　者：戴福全[1,2,3] 张西康 DAI Fuquan;ZHANG Xikang(Fujian Key Laboratory of Intelligent Machining Technology and Equipment(Fujian University of Technology),Fuzhou Fujian 350118,China;Fujian Key Laboratory of Force Measurement and Testing,Fuzhou Fujian 350108,China;Industrial Robot Application Engineering Research Center of Collegesand Universities in Fujian Province,Minjiang University,Fuzhou Fujian 350108,China)

机构地区：[1]福建省智能加工技术及装备重点实验室(福建工程学院),福建福州350118 [2]福建省力值计量测试重点实验室,福建福州350108 [3]闽江学院工业机器人应用福建省高校工程研究中心,福建福州350108

出　　处：《机床与液压》2023年第9期113-117,共5页Machine Tool & Hydraulics

基　　金：福建省力值计量测试重点实验室(福建省计量科学研究院)开放课题基金资助(FJLZSYS202105);工业机器人应用福建省高校工程研究中心开放基金资助(MJUKF-IRA2001)。

摘　　要：旋转倒立摆是典型的高阶次、多变量和非线性的复杂系统,是控制理论研究和教学中的经典模型。准确的数学模型是研究和教学中使用旋转倒立摆的前提,然而,由于旋转倒立摆的复杂性通常难以建立和实际样机吻合的数学模型。利用Lagrange方程建立旋转倒立摆系统的数学模型,再对实际样机进行参数辨识确定模型具体参数,建立旋转倒立摆准确的数学模型。该方法具体呈现了如何为实际机电系统建立准确的数学模型。在此基础上,利用MATLAB的S函数对模型进行了仿真,验证了上述方法的有效性。The rotating inverted pendulum is a typical high-order,multi-variable and nonlinear complex system,and it is a classic model in the research and teaching of control theory.An accurate mathematical model is the premise of using a rotating inverted pendulum in research and teaching.However,it is usually difficult to establish a mathematical model that is consistent with the actual prototype due to the complexity of the rotating inverted pendulum.The mathematical model of the rotating inverted pendulum system was established by using the Lagrange equation,and then the parameters of the actual prototype were identified to determine the specific parameters of the model,thereby an accurate mathematical model of the rotating inverted pendulum was established.This method specifically shows how to build accurate mathematical models for practical electromechanical systems.On this basis,the model is simulated by using the S-function of MATLAB,which verifies the effectiveness of the method.

关 键 词：旋转倒立摆 LAGRANGE方程 参数辨识 S函数 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]