摘要
对单级倒立摆系统的平衡控制问题进行了研究,分别采用PD,PI和PID三种方案实现了单级倒立摆系统的平衡控制。首先,建立系统的数学模型,然后通过仿真实验设计并整定各方案的控制器参数,将所设计的控制器分别在实际的物理设备上进行实时控制实验,都成功地实现了倒立摆的平衡控制。实际控制结果验证了各方案的正确性和有效性。
The balance control of a single inverted pendulum system is studied. The PD, PI and PID methods are used for the purpose of balance control of single inverted pendulum system. The mathematical model of the system is built, and the parameters of controllers are designed and adjusted by the simulation experiments. The controllers designed are applied separately to actual inverted pendulum system and the realtime control experiments are completed. The experimental results show the correctness and the validity of the methods.
出处
《控制工程》
CSCD
2007年第B05期23-24,53,共3页
Control Engineering of China
关键词
倒立摆
多变量系统
PID控制
inverted-pendulum
multivariable system
PID control
