单级旋转倒立摆系统辨识与随动稳定控制方法研究  

Research on System Identification and Servo Stability Control Method of Single Stage Rotary Inverted Pendulum

作　　者：周金阳 刘妙[1] 雷昱[1] ZHOU Jinyang;LIU Miao;LEI Yu(Northwest Institute of Mechanical&Electrical Engineering,Xianyang 712099,Shaanxi,China)

机构地区：[1]西北机电工程研究所,陕西咸阳712099

出　　处：《火炮发射与控制学报》2024年第2期66-71,77,共7页Journal of Gun Launch & Control

摘　　要：针对单级旋转倒立摆系统参数辨识和随动稳定控制问题,首先建立倒立摆在不受外力控制,摆杆自然下垂的顺摆模型,基于顺摆模型采用快速傅里叶变换方法对系统参数进行辨识;然后推导顺摆模型与倒摆模型之间的关系,进一步得到倒立摆的倒摆模型;根据辨识出的倒摆模型,采用线性二次型控制器对其进行稳定控制,并进行了数值仿真与实物实验验证。研究结果表明,通过辨识得到的系统模型更加精确,对比直接测量参数得到的系统模型,控制效果更好,且能对随动输入指令进行更优的跟随。该方法可以有效避免量测误差,提高模型的准确性,为火炮随动稳定控制提供参考。Aiming at the problem of system parameters identification and servo stability control of single stage rotary inverted pendulum,the straight pendulum model with pendulum bar natural sagging and without external forces was established.System parameters were identified based on fast Fourier transform method.The relationship between the straight and the inverted pendulum model was deduced and the inverted pendulum model was obtained.According to the obtained inverted pendulum model,a linear quadratic controller was used to control stability.The numerical simulation and the physical experiments were carried out.The results show that the identified system model is more accurate and effective and can better follow the servo input instruction.In a word,this method can avoid measurement errors,improve accuracy and provide a reference for servo stability control.

关 键 词：单级旋转倒立摆 系统辨识 线性二次型 随动稳定控制 数值仿真 

分 类 号：TJ810.376[兵器科学与技术—武器系统与运用工程]