单级旋转倒立摆极点配置与二次型最优控制

作者：曾孟雄,方春娇,赵千惠 日期：2010-06-21/span> 浏览：3403 查看PDF文档

单级旋转倒立摆极点配置与二次型最优控制
曾孟雄,方春娇,赵千惠
（三峡大学 机械与材料学院,湖北 宜昌 443002）

摘要：为了使旋转倒立摆的旋臂与摆杆始终保持在垂直姿态，通过对单级旋转倒立摆系统结构和动力学分析，建立了合理的状态空间模型并进行了线性化处理，分别通过极点配置和二次型最优控制进行了控制优化，并在Matlab中进行了仿真分析，实现了对旋臂与摆杆的控制。研究结果表明，二次型最优控制具有更好的响应性能和算法简单等特点，在实际应用中具有重要意义。
关键词：倒立摆；极点配置；二次型最优控制
中图分类号：TP13文献标识码：A文章编号：1001-4551(2010)03-0060-04

Pole placement and quadratic optimal control for the
signal armdriven inverted pendulum

ZENG Mengxiong, FANG Chunjiao, ZHAO Qianhui
(College of Mechanical & Material Engineering, China Three Gorges University, Yichang 443002, China)

Abstract: Aiming at remaining of a rotary inverted pendulum always in the upright posture, by analyzing structure and dynamics of the signal rotary inverted pendulum, a rational statespace model was established and treated with linearization process. The inverted pendulum system was controlled, respectively, by the pole placement and the quadratic optimal control, which was simulated and analyzed in Matlab. The controlling of the spiral arm and pendulum was realized. The results indicate that the quadratic optimal control has better responded performance and characters, such as simple algorithm. It has a great signify in the practical application.
Key words: armdriven inverted pendulum; pole placement; quadratic optimal control