倒立摆系统的状态空间极点配置控制设计

Design of inverted pendulum system controller based on pole placement method

为实现多输入多输出、高度非线性、不稳定的倒立摆系统平衡稳定控制,将倒立摆系统的非线性模型进行近似线性化处理,获得系统在平衡点附近的线性化模型。利用牛顿一欧拉方法建立直线型一级倒立摆系统的数学模型。在分析的基础上,基于状态反馈控制中极点配置法对直线型一级倒立摆系统设计控制器。由MAT- LAB仿真及对实际系统的调试验证,表明采用的控制策略是有效的,设计的控制器对直线型一级倒立摆系统的平衡稳定控制效果好,提高了系统的抗干扰能力。

To realize the balance control of the inverted pendulum system, Using Newton-Eulerian method, a mathematical model is established for a linear 1-stage inverted pendulum system. On the basis of analysis,Based on pole placement method, This paper presented a controller for a linear 1-stage inverted pendulum system. Use MATLAB to simulate and certificate on the experiment system, results show that the presented method is effective, and system has good stability and good robustness.