一种车载式倒立摆控制系统设计与实现.pdfVIP

一种车载式倒立摆控制系统的设计与实现 杨智，陈曦 （中山大学信息科学与技术学院，广东 广州 51006） E-mail: E-mail ：issyz@mail.sysu.edu.cn 摘 要: 倒立摆系统由于它的非线性、多变量、不稳定的特点，一直是控制领域中经典的研究对象之一. 但目前相关研究大多集 中于系统模型理论分析和仿真控制的范畴，实际可用的商业产品价格昂贵且参数调整复杂，理论分析与实际结构参数设计的结 果差异性较大. 本文首先采用 Lagrange 方法建立倒立摆系统的模型，基于嵌入式系统成功设计了一款车载式倒立摆控制系统， 该系统设计简明，具备自启动功能、实时控制参数传输和状态监测的无线交互功能等. 利用 LQR 最优控制理论设计的控制器与 实际参数控制结果吻合度高，也为复杂系统控制理论方法的研究提供了一种新型的实验平台. 关键词：倒立摆, Lagrange 建模, 嵌入式系统, LQR 最优控制,无线通信 The Design and Implementation of a Vehicular Inverted Pendulum System YANG Zhi ，CHEN Xi (School of Information Science and Technology, Sun Yat-sen University, Guangzhou 510006, China) E-mail: E-mail ：issyz@mail.sysu.edu.cn Abstract: Inverted pendulum system is difficult to control because of its multi-variable nature, instability and nonlinearity. It becomes one of the most classic objects of study in control field. However, most of related research focuses on model analysis and control simulation. The commercial experiments are expensive, and its parameters are difficult to regulate. The actual parameters are very different from theory analysis . This paper firstly models the inverted pendulum system by using Lagrangian modeling method. Based on embedded system technology, this paper implements a vehicular inverted pendulum. This concise design can automatic start, transmit the real time parameters, and monitor the real time conditions. The controller based on Linear Quadratic Regular theory, can well conform to the actual operation. This design also provides a new type experimental device for the study of complex system control theory. Key words: inverted pendulum, Lagrangian modeling, embedded systems, LQR controller, wireless communication 1 引言