单级倒立摆控制方法的仿真对比研究

Control Method Study on a Single Inverted Pendulum in Simulation Environment

运用牛顿动力学方法对单级倒立摆系统进行了数学建模,并对基于经典控制理论的PID控制方法、基于最优控制理论的LQR控制方法,以及基于模糊控制理论的模糊控制方法进行了仿真对比分析研究,其分析结果对该方向的研究具有理论指导意义。

The mathematical model of a single inverted pendulum is built by using the Newton mechanics,and the three control methods which are usually used in the inverted pendulum system,that is conventional PID,LQR and Fuzzy control are discussed.Also, through simulation in Matlab, these methods are compared and studied carefully. The results of the analysis can help the learning in this respect and have a guiding meaning in the theorem.