基于xy平台的平面倒立摆系统分析-analysis of planar inverted pendulum system based on xy platform.docx

AbstractThe nonlinear dynamical model of the planar inverted pendulum is developed with Lagrangian formulation firstly. Then, the linearization of the model at its equilibrium yields to the decoupled linear systems of the inverted pendulum in two perpendicular control directions. According to the theory of optimal control to design a system of linear quadratic optimal regulator, And by using Visual C ++ 6.0 and Visual Basic 6.0 realized the human-computer interaction, Real-time control in multimedia timer interrupt service function realization within, self-build a plane inverted pendulum experiment platform. The system successfully achieved stable pendulum control, Simulation and experimental results surface build plane inverted pendulum decouping the rationality of the model and the effectiveness of the control algorithm.Keywords: Planar inverted pendulum; Modeling; Decoupling; Linear quadratic optimal; Multimedia timer目 录摘 要..................................................................................................................................................IAbstract ............................................................................................................................................ II第 1 章绪论................................................................................................................................... 11.1 引言.................................................................................................................................... 11.2 国内外研究情况................................................................................................................ 11.3 论文主要工作.................................................................................................................... 2第 2 章平面倒立摆系统结构及工作原理................................................................................... 32.1 平面倒立摆本体.....................................................................................................