基于虚实结合的旋转倒立摆稳定控制设计  

Design of Rotary Inverted Pendulum Stabilization Based on the Combination of Virtual and Real

作　　者：王丹 冯阳 邓政杰 WANG Dan;FENG Yang;DENG Zhengjie(School of Mechanical and Electrical Engineering,Guangdong University of Science and Technology,Dongguan 523463,Guangdong,China;Dong Guan Googol Automation Technology Co.,Ltd.,Dongguan 523878,Guangdong,China)

机构地区：[1]广东科技学院机电工程学院,广东东莞523463 [2]东莞固高自动化技术有限公司,广东东莞523878

出　　处：《实验室研究与探索》2025年第3期77-82,共6页Research and Exploration In Laboratory

基　　金：广东省重点建设学科科研能力提升项目(2022ZDJS148);广东省本科高校教学质量与教学改革工程建设项目(粤教高函[2024]9号);东莞市社会发展科技面上项目(20231800937802);广东科技学院校企联合实验室项目(GKZLGC2023173)。

摘　　要：针对欠驱动旋转倒立摆稳定控制传统设计方法复杂、耗时且实施难度大等问题,提出一种虚实结合的设计方法。构建旋转倒立摆系统并确定其机械结构和控制方案。在虚拟环境中创建对应的数字模型,集成机械动力学、控制系统及可视化界面。通过仿真设计高效稳定控制算法,并转换为可执行的C代码部署到实体系统。实验结果显示,该方法能缩短开发周期,降低设计难度,实现旋转倒立摆的稳定控制和抗干扰能力,为欠驱动系统的控制设计提供了新的思路和方法,对推动智能控制技术的发展具有重要意义。A design method that integrates virtuality and reality was proposed to address the challenges of complexity,time-consumption,and the high difficulty of implementation in traditional design approaches for stabilization of underactuated rotary inverted pendulums.An actual rotary inverted pendulum system was constructed with clearly defined mechanical structure and control scheme.A corresponding digital model was created in a virtual environment by integrating mechanical dynamics,a visualization interface,and the control systems.Efficient and stable control algorithms were designed through simulation and then converted into executable C code for deployment in the physical system.Experimental results demonstrate that this method shortens the development cycle,reduces design difficulty,achieves stable control,and enhances anti-disturbance capability for the rotary inverted pendulum.This approach provides new ideas and methods for the control design of underactuated systems,which is significant in promoting the development of intelligent control technologies.

关 键 词：虚实结合 旋转倒立摆 稳定控制系统 欠驱动 仿真 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]