基于鲁棒保性能控制的倒立摆虚拟现实仿真研究

Virtual reality simulation of inverted pendulum based on robust guaranteed cost control

为研究倒立摆的虚拟现实仿真教学平台,首先建立了倒立摆的数学模型,叙述并分析了基于线性矩阵不等式(LM I)的鲁棒保性能控制方法;然后基于鲁棒保性能控制器和虚拟现实技术,建立了倒立摆的虚拟现实仿真系统。研究结果表明:相对于PID控制器,鲁棒保性能控制器能使系统具有更好的渐近稳定性、干扰抑制能力和最优性能;而虚拟现实技术在教育领域中的应用,能给人以身临其境的感觉,增加了学生学习控制理论知识的兴趣。

For the purpose of teaching platform study of the inverted pendulum virtual reality simulation, the mathematical model of the inverted pendulum was firstly established, a robust guaranteed cost control method using linear matrix inequality （LMI） was described and analyzed. Based on robust guaranteed cost controller and virtual reality technology, a virtual reality simulation system of inverted pendulum was established. The research results show that the system has better asymptotic stability, interference suppression ability and optimal performance, compared with the PID controller. And the application of virtual reality technology in the educational field can give people a feeling of very realistic experience and increase interest of learning control theory knowledge for students.