单级旋转倒立摆的控制方法研讨.pdfVIP

th Proceedings of the 25 Chinese Control Conference 7-11 August, 2006, Harbin, Heilongjiang 单级旋转倒立摆的控制方法研究 陶文华 辽宁石油化工大学信息与控制工程学院 辽宁 113001 E-mail: taowenhua@ 摘 要：倒立摆系统是一个典型的多变量、非线性、强耦合和快速运动的自然不稳定系统，其控制问题被公认 为控制理论的一个典型问题，旋转倒立摆是一种新型的倒立摆装置模型更复杂和不稳定，增加了控制难度。该 文详细介绍了单级旋转倒立摆的构成及数学模型状态空间的建立，采用极点配置、LQR 和 LQY 三种方法对旋 转倒立摆进行了最优控制系统设计，并借助 Matlab 平台进行了仿真实验，对系统控制效果的影响进行了分析， 实验结果证明了其有效性。该控制结果可以进一步扩展到多级旋转倒立摆的控制，对于实现其它不稳定系统的 控制，也有着一定的借鉴价值。 关键词：旋转倒立摆，状态反馈，极点配置，LQR ，LQY Control research for single rotation inverted pendulum 1 TAO Wen-hua Department of Information Engineering liaoning University of Petroleum chemical Technology,Liaoning,Fushun,113001 E-mail: taowenhua@ Abstract: Inverted Pendulum system is a complicated, nonlinear, unstable system of high order. It is the typical experiment object for controlling research. Rotation inverted Pendulum is more complex and less stable than normal that so as to increase the control level. The structure and mathematic model of single rotation inverted Pendulum is presented detaily in this paper. The three control system based on pole-placement, LQR and LQY are designed, The simulation is done based on Matlab. The effection is proved by the result of experiment. The control result can be expanded the control of multilevel Rotation inverted Pendulum, and have a guiding meaning in the control of other unstable system. Key Words ：single rotation inverted Pendulum, state eedback, pole-placement,