倒立摆调节器的范例教学

Example Pedagogics Based on Inverted Pendulum Regulator

“现代控制原理”是自动化专业的一门重要基础课。在该课程教学过程中,必须使学生充分理解控制系统的基本原理和设计方法。范例教学是实践证明很成功的教学方法,为了达到教学目的,设计了一个倒立摆调节器范例。倒立摆是一个典型的多变量、非线性耦合控制系统。本文分析倒立摆控制系统的数学模型,介绍了线性二次型最优调节器的基本原理,并用该方法实现倒立摆的最优控制。总之,在教学中应用范例介绍了线性二次型最优调节器的基本原理,并用该方法实现倒立摆的最优控制。总之,在教学中应用范例教学方法,能够提高该课程的教学效果和质量,增强学生对基本概念的理解能力,激发学生对该课程的兴趣和理解。

“Modern Control Theory” is one of important basic course of automation control major. While teaching and studying this course, it is necessary to make students get sufficient understanding of principles and design method of control system. Example Pedagogics is proved to be a good method, so an example of inverted pendulum regulator is designed for this purpose. Inverted Pendulum is a control system, with the feature of multi-variable, non-linearity and tight coupling. In this paper, we mainly analyze its mathematical model and introduce the principle of linear quadratic regulator, which suits to control the Inverted Pendulum. Applying Example Pedagogics into teaching, it will improve teaching quality and effect of this course, and strengthen the students＇ understanding to some essential conceptions. So the students get more interest and comprehension of this course.