摘要
由驱动小台车带动的一维倒立摆系统是一个非线性、不稳定的系统。对该系统的控制常常被用来对各种不同的控制方法进行验证。本文针对倒立摆标准设计问题中标称系统的控制,设计全状态反馈控制器,使系统能够满足性能指标的要求。在MATLAB环境下,建立Simulink仿真模型对系统进行仿真,得到了满意的结果。并就所设计的控制器对摩擦系数等参数摄动的适应性进行了研究,得出一些有益的结论。
The system of inverted pendulum on a cart is nonlinear and essentially unstable. The control of this system is a way to validate varied control methods. In this paper a full state feedback controller is designed to satisfy the performance requirement presented in certain system control under the problem of benchmark design. Under the circumstance of MATLAB, model in Simulink is established, and after simulating experiment , good results are gained. Additionally, the research on designed controller＇s adaptability to the change of some parameter such as friction coefficient is conducted, and a few good conclusions are obtained.
出处
《太原科技大学学报》
2005年第3期190-193,共4页
Journal of Taiyuan University of Science and Technology
基金
山西省自然科学基金(20021048)。
关键词
倒立摆
建模
仿真
inverted pendulum, modeling, simulation
