单级倒立摆系统的数字最优控制器设计与仿真

Design and Simulation of Digital Optimal Controller to Single Inverted Pendulum System

倒立摆系统以其自身的不稳定性为系统的平衡提出了难题,也因此成为自动控制实验中验证控制算法优劣的极好的实验装置。通过对单级倒立摆系统的简化模型分析,设计了带有积分环节的数字最优控制器。仿真结果表明倒立摆系统在该数字最优控制器的控制作用下,无论是系统的输出还是各个状态变量,都具有较好稳定性和一定的鲁棒性。

Inverted pendulum system is difficult to control because of its own instability; therefore it is a good test installation to confirm the control algorithms in the automatic experiments. Firstly, the simplified model of the single inverted pendulum system is analyzed, and then designed a digital optimal controller with integral function. The simulation results indicated that the single inverted pendulum system has a good stability and a degree of robustness, regardless of the system output or every state variable, in the function of the digital optimal controller.