旋臂式倒立摆的控制设计与仿真

Control Design and Simulation of Cantilever-Typed Inverted Pendulum

针对旋臂式倒立摆的稳定控制问题,建立了二阶旋臂式倒立摆系统的数学模型,运用连续系统线性二次型最优控制理论,设计了旋臂式倒立摆控制系统的线性二次型调节器,使倒立摆系统在闭环状态下稳定。运用Matlab进行仿真,通过与传统的极点配置方法相比较,发现最优控制效果更好。

In order to solve the control problem of cantilever-typed inverted pendulum,the second order mathematic model for cantilever-typed inverted pendulum is built.Using the theory of LQOC（linear quadratic optimal control）,the systematic linear quadratic controller is designed for the stability of this pendulum under the close loop state.Compared to traditional pole placement,the final result demonstrates that the optimal method has the better effects by using the Matlab software.