平面一级倒立摆的稳定控制

Stability Control of Planar Single Inverted Pendulum

平面倒立摆系统是进行控制理论研究的理想实验平台。在对平面一级倒立摆进行运动学和动力学分析的基础上,采用拉格朗日方程建立了它的动力学模型。分别设计了LQR控制器和模糊控制器,应用所设计的控制器对倒立摆系统进行了实时控制实验。验证了两种控制方法的优缺点。

Planar inverted pendulum system is the ideal experimental platform for the control theory.In this paper,a dynamical model of the planar single inverted pendulum is developed by using Langrange equations based on the kinematical and dynamical analysis of it.A LQR controller and fuzzy controller are designed.The two controllers are applied into the real-time controlling experiment,respectively.Verifying the advantages and disadvantages of the two control methods.