基于状态观测器的倒立摆系统控制与实验研究

针对具有非线性、强耦合等特性的典型多输入多输出控制实验系统,建立了倒立摆系统的结构模型,阐述了系统的工作原理.提出了一种基于状态观测器的控制器设计方法,并在建立系统模型过程中,采用振动和力学原理对倒立摆系统的相关重要参数进行了实验测定.通过实验验证了所提出控制方法的有效性,为倒立摆系统稳定性控制、系统设计以及其他相关研究提供了理论依据和方法.

Inverted Pendulum System Control Based on State Observer and Experimental Investigation

For the typical experiment system of nonlinear,strong coupling and multi-input/output control,a structural model of inverted pendulum system was set up with its working principle described. A controller design method based on state observer was proposed,and in the process of setting up the system model,the related basic parameters were measured experimentally on the vibrational mechanical principle of the pendulum system. The validity of the proposed control method was verified by experimental results,thus ...