基于极点配置的二级倒立摆最优控制器设计

Design of the Optimal Controller Based on Pole Placement for Double Inverted Pendulum

介绍了按规定的主导极点选择最优控制加权阵的原理,并在方法上作了一定改进。把传统的最优控制与极点配置结合起来,既得到了系统最优控制器,又得到了具有工程意义希望的性能指标。并成功地把最优控制理论应用于二级倒立摆控制系统,设计出具有期望主导极点的最优控制器,实现了对二级倒立摆系统的稳定控制。

The theory of optimal controller based on pole placement is introduced. A new method to choose weighting matrices Q, R of the cost function by assigning the dominant poles is presented. This method combines optimal control theory and pole-placement principle. Using this method, the optimal controller and the desired dominant poles are obtained. The experiment device of a double inverted pendulum was made. The method is used in designing this control system. The obtained optimal controller has desired closed-loop dominant poles. The optimal controller is used for this experiment device. The simulation and experiment results indicate that the proposed method is effective.