| 基于系统内部限制的二级倒立摆控制器 |
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| 引用本文： | 高彬,段广仁.基于系统内部限制的二级倒立摆控制器[J].黑龙江大学自然科学学报,2005,22(2):277-280. |
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| 作者姓名： | 高彬 段广仁 |
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| 作者单位： | 哈尔滨工业大学,控制理论与制导技术研究中心,黑龙江,哈尔滨,150001 |
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| 基金项目： | 国家杰出青年基金资助项目(69925308) |
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| 摘 要： | 倒立摆装置被公认为自动控制理论中的典型试验设备.通过讨论分析开环系统的不稳定极点和零点给闭环系统带来的超调和下冲等一些必然属性,设计了二级倒立摆的控制器.该控制器能有效的减少系统输出的超调和下冲,并使系统有很好的鲁棒稳定性.实验结果表明该控制器可以对二级倒立摆进行有效的控制,说明了设计方法的有效性.
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| 关 键 词： | 控制系统内在限制 二级倒立摆 开环不稳定极点 非最小相零点 |
| 文章编号： | 1001-7011(2005)02-0277-04 |
| 修稿时间： | 2004年10月18 |
Control design of double inverted pendulum based on intrinsic characteristics of the system |
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| GAO Bin,DUAN Guang-ren.Control design of double inverted pendulum based on intrinsic characteristics of the system[J].Journal of Natural Science of Heilongjiang University,2005,22(2):277-280. |
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| Authors: | GAO Bin DUAN Guang-ren |
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| Abstract: | Double inverted pendulum is well known as a typical instrument for control systems. The authors begin with some intrinsic characteristics of the closed - loop system, e. g. , overshoot and undershoot, on account of open - loop unstable poles and zeros. Then, a controller is designed. It can effectively reduce the overshoot and undershoot of the closed - loop system and in the meantime achieve certain robust stability. Experiment results show the effectiveness of the proposed method and the resulted controller can effectively control the double inverted pendulum system. |
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| Keywords: | intrinsic characteristics of control systems double inverted pendulum open - loop unstable poles non - minimum zeros |
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