基于状态反馈控制方法旋转倒立摆数学模型分析和控制算法设计.pdfVIP

IMPACT: International Journal of Research in Engineering Technology (IMPACT: IJRET) Vol. 1, Issue 3, Aug 2013, 41-50 © Impact Journals MATHEMATICAL MODEL ANALYSIS AND CONTROL ALGORITHMS DESIGN BASED ON STATE FEEDBACK METHOD OF ROTARY INVERTED PENDULUM 1 2 3 4 5 IRFAN JAMIL , REHAN JAMIL , ZHAO JINQUAN , RIZWAN JAMIL ABDUS SAMEE 1,3College of Energy and Electrical Engineering Hohai University, Nanjing, China 2School of Physics Electronic Information, Yunnan Normal University, Kunming, China 4Heavy Mechanical Complex (HMC-3) Taxila, Pakistan 5Chasma Center of Nuclear Training, PEAC, Islamabad, Pakistan ABSTRACT XZ- Ⅱtype rotary inverted pendulum is a typical mechatronic system; it completes real-time motion control using DSP motion controller and motor torque. In this paper, we recognize XZ- Ⅱrotational inverted pendulum and learn system composition, working principle, using method, precautions and software platform. We master how to build mathematical model and state feedback control method (pole assignment algorithm) of the one order rotational inverted pendulum system and finish simulation study of system using Matlab. In the end we grasp debugging method of the actual system, and finish online control of the one order rotational inverted pendulum system as well. KEYWORDS: Rotational Inverted Pudulem, Mathematical Model, State Feedback, Simulation, Debugging INTRODUCTION Rotary Inverted Pendulum Inverted pendulum is typical multi-variable, nonlinear non-minimum-phase, unstable and underactuated system [1]-[5]. XZ- Ⅱrotary inverted pendulum system uses DSP as the controller, and it has independent ability to complete real- time control al