三阶倒立摆系统基于能量的控制.doc

摘  要  倒立摆系统是一种典型的非线性欠驱动复杂难控系统，对倒立摆的研究可 归结为对非线性多变量、欠驱动、绝对不稳定系统的研究。倒立摆系统的控制 策略和理论的研究无论对控制理论的发展还是对实践中实时控制策略与技巧的 研究都有很好的促进作用，同时，各种非线性控制理论的形成与发展，也往往 以倒立摆系统作为实践的检验平台，以验证理论的正确性、有效性和在实时控 制中的应用问题，因而，倒立摆系统被看成是检验各种控制理论和方法的有效 试金石。 本文给出了小车三阶倒立摆的物理模型和数学描述，建立了它的仿真模型， 探讨了该系统的运动控制特性。针对三阶倒立摆系统的特点，将倒立摆的控 制过程分成了两个阶段：摆起阶段和稳摆阶段。通过对倒立摆系统动力学特 性的分析，以能量控制为基础设计了三阶倒立摆的摆起控制器，并且利用 LQR 反馈控制方法设计了三阶倒立摆的稳摆控制器，最终通过一个切换控制策略完 成了倒立摆的摆起倒立控制，并通过仿真证明了该控制策略行的有效性。 关键词：三阶倒立摆系统 非线性欠驱动系统 能量控制 切换控制 I ABSTRACT The study of the inverted pendulum system can be treated as the study of multivariable, nonlinear, under-actuated and absolutely unstable system. The development of control theory and strategies on triple inverted pendulum system (TIPS) could facilitate not only to the development of control theory but also to the real control technology in practice. Meanwhile, TIPS is considered to be a platform for verifying the correctness and validity of all kind of nonlinear control theory. Thus, TIPS was looked as a touchstone of many kinds of control theories and strategies. We first deduced mathematic model of TIPS, and then its simulation model is constructed. According to this simulation model, we discussed the dynamic characteristics of TIPS. On the basis of energy based control, we design the swing-up controller of TIPS, and we design the balance controller by LQR feedback control. At last, we use a switching control strategy to control the whole system. Accomplishment of simulation testified the validity of control strategy we designed. Keywords: triple inverted pendulum system (TIPS), underacted nonlinear system, energy based control, switching control II ACKNOWLEDGEMENTS First and foremost, I would like to express my heartfelt gratitude to my supervisor, Mr. Wei Lin both for his intellectual guidance and for his warm and constant encouragement during the process of writing this thesis. My cordial and sincere thanks go to all the teachers in the Division of Control and Mechatronics Engineering, whose inte