三级倒立摆的自动摆起与稳定控制-控制理论与应用.PDF

28 1 Vol. 28 No. 1 2011 1 Control Theory Applications Jan. 2011 :2011 , , ( , 116024) : , LQR . , , , , , ; , , LQR, . . : ; ; ; ; LQR : TP273 : A The swing-up and stabilization of the triple inverted pendulum ZHANG Yong-li, CHENG Hui-feng, LI Hong-xing (Faculty of Electronic Information and Electrical Engineering, Dalian University of Technology, Dalian Liaoning 116024, China) Abstract: The swing-up of the triple inverted pendulum is achieved by inversion-based trajectory control. The variable- gain linear quadratic regulator is designed to stabilize the triple inverted pendulum in the upward position. The transient process of swing-up of the triple inverted pendulum is treated as a nonlinear two-point boundary value problem. The normal trajectories of swing-up are obtained by solving a two-point boundary value problem, and a feedforward control is designed by using the inverse system method. A gain-scheduled feedback is used to stabilize the system during the swing-up. In addition, the triple inverted pendulum in the upward position is stabilized by utilizing the variable-gain linear quadratic regulator. Simulation results demonstrate the effectiveness of the proposed control scheme. Key words: triple inverted pendulum; inversion-based feedforward control; two-point boundary value problem; feed- back control based on gain-scheduled; variable-gain linear quadratic regulator(VGLQR) 1 (Introduction) , . , . , [11,14] , , . , . , , , , , . [14] , , , [512]. . ,