保性能控制在平面一级倒立摆的应用研究

Research of guaranteed cost control in plane two rods inverted pendulum

摆系统是一个典型的强耦合、非线性、高阶次的不稳定系统,常规控制方法如算法、最优控制算法等。由于摆系统的数学模型是在忽略了次要因素的基础上得出来的,当系统受到外部的干扰时,这些次要因素的影响比较突出,控制系统采用基于线性矩阵不等式的方法设计一系统性能上界最小、保守性最低的最优保性能控制律,以改善系统的瞬态性与鲁棒性。然后采用的工具箱设计该控制律,并对系统进行仿真。最后采用3.1编写控制程序,实现对平面二级摆系统的实时控制。

Pendulum is typical non-stability system which is strong coupled,non-linear and higher order. There are many conventional operators such as PID operator,optimal control operator and so on. Because mathematics model of the pendulum system is obtained by neglecting some secondary factors,influence of which would be serious with external perturbation Linear matrix inequalities was adopted to design guaranteed cost control law which upper-bound of performance is least and conservative performance is lowest for pendulum system with uncertain parameter,so as to improve instantaneous performance and robust performance of it. Then the control law is designed and system simulation is carried out with Matlab Box tool. Finally the real time control of the plane inverted pendulum is achieved by control program of BC＋＋3.1.