倒立摆控制系统优化与实时仿真  

Optimization and Real-time Simulation of Inverted Pendulum Control System

作　　者：刘佳伟 宋楠 董文琦 曹玉波[1] LIU Jia-wei;SONG Nan;DONG Wen-qi;CAO Yu-bo(College of Information and Control Engineering,Jilin Institute of Chemical Technology;College of Petrochemical Engineering,Jilin Institute of Chemical Technology)

机构地区：[1]吉林化工学院信息与控制工程学院 [2]吉林化工学院石油化工学院

出　　处：《化工自动化及仪表》2023年第4期453-458,共6页Control and Instruments in Chemical Industry

摘　　要：以一阶直线倒立摆为研究对象,基于牛顿第二运动定律,在惯性坐标系内分析和建立倒立摆状态空间表达式数学模型,设计并实现了基于经典PID控制器、状态反馈控制器和全维状态观测器的状态反馈控制器的倒立摆控制系统。通过MATLAB脚本语言实现了倒立摆实时仿真与控制系统,结果表明:优化后的全维状态观测器的状态反馈控制器运行效果更优,仿真结果与实际设备运行状态基本吻合。Through taking a linear first-order inverted pendulum as the object of study and based on Newton’s second law of motion,the mathematical model of space expression for the inverted pendulum was established and analyzed in inertial coordinate system.On this basis,the simulation of inverted pendulum control system based on classical PID controller,state feedback controller and the state feedback controller of full-dimensional state observer was designed and implemented,including having MATLTB script language based to design a real-time simulation experiment platform for the inverted pendulum.Operating result indicates that,the state feedback controller of the optimized full-dimensional state observer has better control effect.The simulation results are in good agreement with the actual equipment running state.

关 键 词：一阶倒立摆 全维状态观测器 状态反馈控制器 PID控制器 脚本编程 实时仿真 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]