摘要
柔性连接的倒立摆系统是在直线倒立摆系统的基础上引入自由振荡环节,使闭环控制系统的响应频率受到弹簧振荡频率的限制,从而增加了对该系统控制器设计的难度。在建立被控系统动力学模型的基础上,通过数学分析,应用线性二次型最优控制策略进行状态反馈控制器的设计,成功地将柔性连接倒立摆系统稳定地平衡在倒立状态。仿真以及实际系统的实验均验证了所采用方法的有效性。最后对所实现的控制器的控制性能进行了分析。
The flexible joint inverted_pendulum is a kind of systems introduced free oscillation segment. The closed_loop control system response frequency is limited by spring oscillation frequency. It is more difficult to design such system controller. Based on the modeling of the controlled system dynamics, the linear quadratic optimal control strategy is used to design the state feedback controller after the mathematical analysis. The flexible joint inverted_pendulum system is stably balance on the inverted state. Both simulation experiment and implementation of the system show the effectiveness of the method proposed. The analysis is given for the performance of the controller last.
出处
《控制工程》
CSCD
2004年第6期506-509,549,共5页
Control Engineering of China
基金
安徽省自然科学基金资助项目(03042301)
