摘要
倒立摆系统是一非线性、强耦合、多变量和自然不稳定的系统,以其自身的不稳定性而难以控制,也因此成为自动控制实验中验证控制策略优劣的极好的实验装置。针对直线单级倒立摆系统的平衡控制问题,对其进行数学建模并进行了能控性分析,采用PID,LQR,模糊变结构3种不同的控制方法,并在Matlab环境下进行仿真,控制效果的实验对比证明了3种方案对系统平衡控制的有效性,同时也展示了它们的控制品质和特性。PID控制结构简单易于实现,LQR控制较PID控制超调量小,调节时间短,且稳定性优于PID控制器,模糊变结构控制器具有较优的鲁棒性及瞬态特性,系统受到参数摄动和外干扰时具有不变性,超调最小。3种控制策略仿真的对比结果对该方向的研究具有理论指导意义。
The inverted Pendulum system is characterized as a fast multi-variable nonlinear essentially unsteady system.It is difficult to control because of its instability.It becomes the wonderful experiment device to verify how about the control strategy in automatic control experiment.In view of equilibrium control problem of the single inverted pendulum,the mathematics model and controllability analysis are dealt with.The actual simulation experiment control results of the single inverted pendulum system with PID,LQR and fuzzy variable structure control are analyzed.Through simulation in Matlab,the validity of the three methods are confirmed,and their qualities and characteristics are shown.The structure of PID control is simple,and it is easy to control.LQR control has less overshoot,shorter accommodation time and better stability than PID control.The fuzzy variable structure control has better robustness and transient characteristic,the system has minimum overshoot and possesses invariance under the condition of parameter perturbations and external interference.The results of the three control strategies have provided theoretical guidance for further studies in this respect.
出处
《控制工程》
CSCD
北大核心
2010年第6期743-745,750,共4页
Control Engineering of China
基金
淮阴工学院科研基金资助项目(HGC0906)
关键词
单级倒立摆
PID
LQR
模糊变结构
single inverted pendulum
PID
LQR
fuzzy variable structure
