摘要
针对二级倒立摆系统安装状态观测器实现实时状态反馈,是否会对系统输出造成影响的问题,从力学的角度分析了二级倒立摆的结构及运行过程,然后利用Lagrange方程对该设计进行模型建立,进而通过理论计算求出倒立摆的数学模型。将构建的数学模型通过MATLAB/SIMULINK进行仿真,并与安装状态观测器后的模型仿真输出进行对比,分析系统模型仿真输出的变化。通过仿真得出,加入状态观测器不仅能实现对数据的实时反馈,而且对系统输出没有影响,并且对倒立摆系统的控制起到了很好的辅助作用。
For double inverted pendulum system with state observer status in real time feedback, whether it will affect the output of the system, this paper analyzes the structure and the operation process of double inverted pendulum from the angle of mechanics, and then using the Lagrange equation to design model, and then the mathematical model of inverted pendulum is given by the theory calculation. Mathematical model constructed is simulated by MATLAB / SIMULINK, and for comparison with the model simulation output after installing state observer, the changes are depicted. Through simulation results, adding the state observer can not only achieve real-time data feedback, and there is no effect on the system, and which plays a good supporting role in the inverted pendulum control system.
出处
《齐齐哈尔大学学报（自然科学版）》
2015年第3期49-52 62,62,共5页
Journal of Qiqihar University(Natural Science Edition)
基金
绥化学院2014年科学技术研究资助项目(K1402001)
