基于SimMechanics的直线二级倒立摆仿真研究

倒立摆是一个非线性、高阶次和绝对不稳定系统,广泛用于测试各种控制算法。为了对直线二级倒立摆进行建模、控制和仿真,首先讨论了倒立摆数学模型并利用MATLAB中第二代SimMechanics工具箱进行三维建模。此外,实现了两种控制算法的稳定性控制并进行对比,针对比例积分微分(proportional integral derivative,PID)控制,提出采用主导极点配置方法进行参数整定,而模糊控制采用了基于线性二次型(linear quadratic regulator, LQR)融合的模糊控制器设计。结果表明,两种控制方法均取得较好的控制效果,且模糊控制在快速性、超调量及抗干扰能力上都比PID控制性能优越。

Simulation Research on Linear Double Inverted Pendulum Based on SimMechanics

The inverted pendulum is a nonlinear, high order and absolutely unstable system widely used to test various control algorithms. The purpose of this paper is to model, control and simulate a linear secondary inverted pendulum. Firstly, the inverted pendulum mathematical model was discussed and the 3D modeling was carried out using the second generation SimMechanics toolbox in MATLAB.In addition, the stability control of the two control algorithms were implemented and compared.For the PID control, the dominant pole configuration method was used for parameter tuning, and the fuzzy control was used the controller design based on LQR fusion.The results show that both control methods achieve better control effects, and fuzzy control is superior to PID control performance in terms of rapidity, overshoot and anti-interference ability.