倒立摆的迭代学习控制方法研究.pdf

(Transducer andM icrosystem Technologies) 2008 27 4 40 李战明, 艾文欢, 陈若珠 ( , 730050) : ,, ,, , : , : ; D ; ; : TP273 : : 1000- 9787( 2008) 04- 0040- 03 Research on iterative learning control schem e for inverted pendulum LI Zhan-m ing, IW en-huan, CHEN Ruo-zhu (Co llege of Electrica l and Information Engineering, Lanzhou Universit of Techno log , Lanzhou 730050, China) Abstract: mi ed at the characters of classic nonlinear, multivariable and absolutely unstable about inverted pendulum, based on themathematicalmodel, controller is designed according to the required dynamic performance indexes by iteration learning controlmethod, and the smi ulation is accomplished. Results show that compared with those of traditional state feedback controller, the dynam ic performances of the system can be greatly mi proved. K e words: iterative learning contro;l closed-loop D-type; inverted pendulum; smi ulation 0 1 1. 1 系统的物理模型 1, M, m, b, l, , ( I, x, ( ) ) , , F, , , , , , , , , , , 1 , F ig 1 Inverted pendu lum s stem 1. 2 系统的数学模型[ 1] , D , , M TL B ,