| 单级倒立摆系统的仿真研究 |
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| 引用本文： | 徐国林,杨世勇.单级倒立摆系统的仿真研究[J].四川大学学报(自然科学版),2007,44(5):1013-1016. |
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| 作者姓名： | 徐国林 杨世勇 |
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| 作者单位： | 1. 烟台职业学院电气工程系,烟台,264000
2. 烟台大学计算机学院,烟台,264005 |
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| 摘 要： | 对单级倒立摆系统的平衡控制问题进行了研究. 首先建立了系统的数学模型，然后分别采用PID方法、最优控制策略的LQR方法和极点配置方法设计控制器，最后对控制系统进行了仿真实验研究. 仿真实验结果不仅证明了三种方案对系统平衡控制的有效性，同时也展示了它们的控制品质和特性.
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| 关 键 词： | 倒立摆 线性控制 仿真 |
| 文章编号： | 0490-6756（2007）05-1013-04 |
| 修稿时间： | 2006-07-18 |
Simulation study on a single inverted-pendulum system |
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| XU Guo-lin and YANG Shi-yong.Simulation study on a single inverted-pendulum system[J].Journal of Sichuan University (Natural Science Edition),2007,44(5):1013-1016. |
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| Authors: | XU Guo-lin and YANG Shi-yong |
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| Institution: | Department of Electrical Engineering, Yantai Vocational College,School of Computer, Yantai University |
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| Abstract: | The balance control of a single inverted pendulum system was focused. First, the mathematical model of the system was built, then the PID method, optimization strategy of LQR method and pole-placement method were adopted respectively to design the controllers, at last, the simulation experiments were finished, by the simulation experiment results, not only the validity of the three methods were confirmed, but their qualities and characteristics were shown fully also. |
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| Keywords: | inverted-pendulum linear control simulation |
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