摘要
倒立摆是控制理论研究和教学中广泛使用的典型模型,文章在LabVIEW环境下,以二级直线倒立摆为被控对象,利用虚拟现实技术,开发了倒立摆LQR三维仿真控制系统;使用LabVIEW的三维图形工具箱将倒立摆的三维模型导入LabVIEW中,并利用LabVIEW控制设计和仿真模块将数学模型和三维模型联系起来;通过倒立摆系统的仿真数据驱动倒立摆的三维虚拟模型,能够形象地反映真实倒立摆的运动状态。所开发的系统操作界面友好易用,用户可以方便地修改倒立摆模型和LQR控制器的参数。
Inverted pendulum is a typical model in studying of control theory and teaching. In this paper, a two-level inverted pendulum is used as control object and the 3D simulation d the inverted pendulum LQR control system is developed by LabVIEW with the virtual reality technology. The 3D inverted pendulum mod- el is imported into LabVIEW by using 3D graphics toolbox and the LabVIEW control design and simulation module is utilized to combine 3D model with mathematical model. The 3D virtual model of inverted pendulum is driven by the simulation data of the system and the simulation results can faithfully reflect the motion of the real inverted pendulum. The user interface is friendly and easy to use. Users can conveniently modify the pa- rameters of the inverted pendulum model and LQR controller.
出处
《合肥工业大学学报（自然科学版）》
CAS
CSCD
北大核心
2011年第10期1480-1484,共5页
Journal of Hefei University of Technology：Natural Science
基金
安徽省重点教学研究资助项目(2008jyxm048)
