摘要
用牛顿力学方法建立了直线一级倒立摆的非线性数学模型,并基于倒立摆系统的状态方程,用Matlab对系统进行定性分析。采用极点配置法、LQR设计了控制器,并分析了参数对系统控制的影响。针对倒立摆的非线性,研究了非线性控制方法中变结构控制的基本思想,并设计了控制器。
In this paper a nonlinear mathematic model for linear single IPS is built, taking advantage of classi-cal mechanics. We use Matlab to qualitatively analyze the system based on equations of motion for the IPS. The con-troller is designed by pole assignment and LQR, and the effects of all parameters on the system control are evaluated.Given the nonlinear property of the IPS, we study the principles in variable structure control （VSS） among nonlinearcontrolling approaches, and design the controller
出处
《电子科技》
2015年第3期58-60,共3页
Electronic Science and Technology
关键词
倒立摆
极点配置
非线性
inverted pendulum
pole assignment
LQR
nonlinear system
