| 一级直线型倒立摆的控制及实现 |
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| 引用本文： | 韩东方,孙小强,徐志明,王银河.一级直线型倒立摆的控制及实现[J].汕头大学学报(自然科学版),2007,22(2):28-32,37. |
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| 作者姓名： | 韩东方 孙小强 徐志明 王银河 |
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| 作者单位： | 汕头大学理学院,广东,汕头,515063 |
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| 摘 要： | 研究一级直线型倒立摆的起摆、镇定与跟踪问题.采用基于Lyapunov能量反馈方法和基于精确线性化与LQR(linear quadratic regulator)算法结合的方法设计控制器,提出分阶段起摆的控制思想,并将这两种控制器有效地联系起来,最后对控制器的跟踪性能作了讨论.仿真结果与上机实验表明了方法的有效性和优越性.
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| 关 键 词： | 倒立摆 起摆 精确线性化 位置跟踪 |
| 文章编号： | 1001-4217（2007）02-0028-05 |
| 收稿时间： | 2006-10-11 |
| 修稿时间： | 2006-10-11 |
Control and Implementation of the Single Linear Inverted-Pendulum |
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| HAN Dong-fang,SUN Xiao-qiang,XU Zhi-ming,WANG Yin-he.Control and Implementation of the Single Linear Inverted-Pendulum[J].Journal of Shantou University(Natural Science Edition),2007,22(2):28-32,37. |
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| Authors: | HAN Dong-fang SUN Xiao-qiang XU Zhi-ming WANG Yin-he |
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| Institution: | Science College, Shantou University, Shantou 515063, Guangdong, China |
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| Abstract: | The swing-up, stabilization and tracking problem of the single linear inverted-pen dulum is studied. The controller is designed based on the Lyapunov energy feedback approach and the combination of exact linearization and the LQR approach. A control idea of step-by-step swing-up, which is united effectively, is proposed. The tracking performance of the controller is discussed finally. The simulation and the experiment verify the validity and superiority of the approach proposed in this paper. |
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| Keywords: | inverted-pendulum swing-up exact linearization position tracking |
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