摘要
研究了倒立摆系统的建模与控制.首先对倒立摆模型进行抽象处理,对处理之后的模型进行受力分析,利用机理法建立倒立摆系统的数学模型,根据系统的需要设定参数,设计出该系统的极点配置器,最后通过MATLAB仿真软件得到系统在大约经历3秒后趋于稳定,仿真结果证明了设计方案的正确性.
The modelling and control of inverted pendulum system and studied. Firstly,the inverted pendulummodel is abstracted,and force analysis is performed on the processed model. Then establish mathematical model forthe inverted pendulum system by the mechanism method,set parameters according to the system needs,and designthe corresponding pole configurator. Finally, the system tends to stabilization after about 3 seconds through theMATLAB simulation software,the simulation result proves the correctness of the design scheme.
作者
李洁
李世煜
LI Jie;LI Shi-yu(Electromechanical College,Handan University,Handan 056005,China)
出处
《广州航海学院学报》
2018年第3期64-67,共4页
Journal of Guangzhou Maritime University
基金
河北省高等学校科学研究计划项目(青年基金项目QN2018326)
邯郸市科学技术研究与发展计划项目(1121103183
1721202044-4)
邯郸学院研究课题(编号:15219)
关键词
极点配置
倒立摆
控制系统
pole assignment
inverted pendulum
control system
