旋转式倒立摆系统的极点配置及其仿真

Pole Configuration of Rotational Inverted Pendulum System and Simulation

旋转式倒立摆系统作为典型的快速、多变量、非线性、绝对不稳定系统,一直是控制理论与应用的热点问题,不但是验证现代控制理论的典型实验装置,而且其控制方法和思路对处理一般工业过程亦有广泛的用途。通过对旋转式倒立摆系统的研究建立了其动力学数学模型,研究了倒立摆系统的极点配置控制策略并运用MATLAB程序对极点配置控制器进行了仿真,通过仿真实验分析表明这种控制方案可行,且效果良好。

Rotational inverted pendulum system, as a typical example of rapid, non-linear and unstable system with multiple variables, always is one of the topics of general interest in control theory and application area. It is the typical experimental device for modem control theory, and its control method and concept are widely used for handling general industrial processes. Through the study on rotational inverted pendulum system, its dynamics mathematical model is derived, and the control strategy of pole configuration of the system is researched. By using MATLAB program, the pole configuration controller is emulated. Through simulated experimental analysis, the control strategy is proven to be feasible and with excellent results.