摘要
针对直线二级倒立摆系统的单输入三输出、强非线性、强耦合的不稳定系统,提出了状态反馈控制方案。通过仿真试验和实时控制实验验证了所提出的控制方案是可行的、有效的。分析和对比实验结果表明:配置的极点离原点越远,倒立摆在短时间内达到动态平衡的可能性就越大,而且配置的极点离实轴越近,控制效果就越好。
For such a single-input-three-output unstable system with strong nonlinearity and strong coupling, the state variable feedback control scheme is designed. The feasibility and validity of state variable feedback control is tested by simulation and real-time control experiment. The result demonstrate that the more the pole assignment is far away from the origin, the more the possibility of inversed pendulum control system reaching dynamic balance within short time is big; and, the more the pole assignment is close to reality axis, the more controls effect is well.
出处
《机电一体化》
2008年第3期39-42,共4页
Mechatronics
基金
上海市重点学科建设项目(P1301)
上海市市级精品课程建设项目
上海高校选拔培养优秀青年教师科研专项基金资助(Z-2006-83)
关键词
倒立摆
实时控制
状态反馈
极点配置
inversed pendulum
real-time control
tate variable feedback
pole assignment
