柔性倒立摆的PD实时控制

PD Real-time Control of Linear 1-stage Flexible Joint Inverted Pendulum System

针对直线一级柔性倒立摆系统的多变量特性,采用三个PD控制器实现了系统的平衡控制。建立了系统的数学模型,并利用极点配置方法整定控制器参数进行仿真实验,将所设计的控制器在实际的实验设备上进行实时控制实验。实际控制结果验证了方案的有效性和正确性。

For the linear 1-stage flexible joint inverted pendulum system with multi-variable,the three PD controllers are used for the purpose of balance control of linear 1-stage flexible joint inverted pendulum system.The mathematical model of the system is built.We use the pole assignment to design the parameters of controllers,and then make a simulation experiment.The designed controllers are applied to actual inverted pendulum system and the real-time experiment is completed.The experiment results show the validity and the correctness of the methods.