摘要
介绍了一种新型的旋转式倒立摆实验装置,对其系统模型进行动力学分析,建立了一个四阶状态空间方程。分别采用状态反馈和最优控制方法对其进行仿真研究,在此基础上实现倒立摆实时稳定控制。
A new rotational inverted pendulum experimental device was presented. Its dynamic characteristics were analyzed The four-order state equation was established. A state feedback continuous system modern control method. Simulations of these According controller and optimal controller were designed by using the controllers were acquired under the environment of MATLAB to this, a real time control of rotational inverted pendulum was accomplished.
出处
《实验室研究与探索》
CAS
2006年第1期21-23,46,共4页
Research and Exploration In Laboratory
基金
国家自然科学基金资助项目(60274009)
高等学校博士学科点项科研基金资助项目(20020145007)
关键词
旋转式倒立摆
状态反馈
最优控制
实时控制
rotational inverted pendulum
state feedback
optimal control
real-time control
