倒立摆的简易现代控制  

A Simple and Easy Modern Control Methods for Inverted Pendumum

作　　者：粟梅[1] 贺伟平[1] 伍侠云[1] 唐文英[1] 

机构地区：[1]中南大学信息科学与工程学院,湖南长沙410083

出　　处：《控制工程》2004年第2期180-183,共4页Control Engineering of China

摘　　要：分析了ZWP Ⅱ倒立摆系统的力学特性,将系统的状态空间描述建立在"倒立"的平衡点附近,然后进行线性化处理,得到系统的状态方程。对系统进行合理的降阶处理后,再对系统进行连续化分析设计,并由此构建状态反馈,实现倒立摆的稳定控制。它大大简化了计算,使误差减少,控制效果很好。The dynamic characteristics of the inverted pendulum system ZWP-II is analyzed. The description in state space of the system is established near the balance point of invertion. Then it is linearized and the state equations are acquired. The dimention of the system matrix is reduced feasibly and the system is regarded as a continuous system to analyze and design. According to that, the state feedback is constructed and then the stabilization control of inverted pendulum system is realized. The method is simpler in calculation, has less value is error and better control results.

关 键 词：倒立摆系统 现代控制 力学特性 数学模型 状态方程 状态反馈 稳定控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TP13[自动化与计算机技术—控制科学与工程]