摘要
倒立摆本身是一个自然不稳定系统,时滞的存在更加恶化了系统性能。基于牛顿动力学方法建立了具时滞单级倒立摆系统的动力学模型,采用PID策略实施控制。将时滞环节采用一阶对称Padé逼近,得到系统的特征方程,利用Routh稳定判据和符号计算法计算出控制系统临界稳定的时滞量。仿真实验结果表明,时滞的存在降低了控制效果,甚至导致控制系统失效。
Inverted pendulum itself was a naturally unstable system, the system performance was deterio- rated by the existence of time delay. The dynamic model of single inverted pendulum system with time delay was set up based on newtonian dynamics method, and was controlled by PID algorithm. The characteristic equation was got through the time delay unit approximated by first - order symmetric Padé seties. The critical stable value of time delay of the system was acquired according to routh stability criterion and symbols calculation method. The simulation results showed that the existence of time delay reduced control effect, and even caused control system failure.
出处
《煤矿机械》
北大核心
2009年第4期85-88,共4页
Coal Mine Machinery
基金
江西省教育厅青年科学基金项目(GJJ09505)
