摘要
倒立摆系统以其自身的不稳定性为系统的平衡提出了难题 ,也因此成为自动控制实验中验证控制算法优劣的极好的实验装置。通过分别分用极点配置法、优化控制策略的LQR及LQY方法对单级倒立摆系统进行了实际系统实时控制效果的实验对比 ,从理论和实验方法上讨论了这类典型非线性自不稳定系统的线性控制器的设计方法及其实际控制效果的特点 ,通过分析指出不同方法之间的优缺点 ,并通过实验得以证实 ,使人们从理论及实践的两个层次对不同的算法有更加深入和清晰的认识。
Inverted-pendulum system is difficult to control because its instability. It becomes the wonderful experiment device to verify how about the control strategy in automatic control experiments. The paper compares the actual real-time experiment control results of the single inverted-pendulum system with the pole-placement method, optimization strategies of LQR and LQY methods. The linear controller design methods in this representative nonlinear instability system are discussed through theories and practical experiments. The paper points out the advantages and disadvantages between the different methods through the analyses and experiment approve so that to make people understand deeply and clearly well those different methods from the theory and practical points of view.
出处
《系统工程与电子技术》
EI
CSCD
北大核心
2001年第11期47-49,99,共4页
Systems Engineering and Electronics
基金
中国科学院重点项目资助课题
关键词
非线性系统
倒立摆
自动控制
Control system
Controller
Nonlinear system
