基于混合系统的倒立摆的建模与仿真

针对倒立摆系统中摆杆的控制问题,从混合系统的角度出发,将单摆描述为一个混合自动机,运用不同控制策略之间的切换,构造能量控制器进行起摆控制,在工作平衡点运用线性反馈控制器进行稳定控制,实现将倒立摆从不同初始状态摆起并稳定在θ=0(工作位置)的目标位置。在MATLAB环境中建立单摆的Simulink仿真模型并通过CheckMate 3．6工具箱进行仿真,结果表明在不同初始条件下的单摆系统都能在较短时间内到达垂直向上位置并稳定。

Modeling and Simulation of the Inverted Pendulum Based on Hybrid System

From the hybrid system standpoint,a inverted pendutum can be regard as a hybrid automaton,which exploits switching of the different control strategies.The energy controller is firstly built to swing up the inverted pendulum and then the linear feedback controller is used to stabilize it at the balance place.The purpose is to swing up the pendulum from the different ini- tial positions and to stabilize at the target position ().At last,the hybrid automaton of the in- verted pendulum is derived by CheckMate3.6 toolbox in Matlab environment.The simulation re- sults show that the inverted pendulum can be stabilized rapidly in the balance area from the differ- ent initial positions.