| 直线一级倒立摆控制策略研究及仿真分析 |
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| 引用本文： | 梁春辉,冯雷,张欣.直线一级倒立摆控制策略研究及仿真分析[J].长春工程学院学报(自然科学版),2010,11(1):36-40. |
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| 作者姓名： | 梁春辉 冯雷 张欣 |
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| 作者单位： | 长春工程学院,电气与信息工程学院,长春,130012;长春工程学院电气与信息工程学院,长春,130012 |
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| 摘 要： | 应用牛顿力学定律建立了直线一级倒立摆的传递函数、状态空间表达式等数学模型,并分析其稳定性、可控性和可观测性。在此基础上,分别研究经典控制方法和现代控制方法在一级倒立摆系统中的应用,包括PID控制算法、系统频率响应分析与校正、线性二次最优控制算法和极点配置法,并在MATLAB/SIMULINK仿真平台上对这些控制算法的效果进行仿真,可以取得不同的控制效果。
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| 关 键 词： | 直线一级倒立摆 数学模型 经典控制方法 现代控制方法 MATLAB/SIMULINK |
An research on control of linear 1-stage inverted pendulum and simulation analysis |
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| LIANG Chun-hui,etc..An research on control of linear 1-stage inverted pendulum and simulation analysis[J].Journal of Changchun Institute of Technology(Natural Science Edition),2010,11(1):36-40. |
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| Authors: | LIANG Chun-hui etc |
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| Institution: | Faculty of Electrics & Information engineering;Changchun Institute of Technology;Changchun 130012;China |
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| Abstract: | The dynamic model of linear l-stage inverted Pendulum has been established by means of Newton mechanics,its transfer function and state-space equation have been obtained.In the meantime,the stability,controllability and observability are analyzed.The control strategies including classic control methods and modern control methods of inverted pendulum system have been studied on the basis of building system model.Control methods of inverted pendulum system based on PID control algorithm,frequency response,the... |
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| Keywords: | linear l-stage inverted pendulum dynamic model classic control methods modern control methods MATLAB/ SIMULINK |
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