加速度控制的倒立摆的S函数建模

Inverted Pendulum of Acceleration Control Modeling Based on S-Function

以加速度控制的二级倒立摆为例,在物理模型和数学模型的基础上,提出了倒立摆在Matlab/Simulink仿真环境下的一种新型建模方法——S函数建模。该方法具有工作量小、界面简单、不易出错和仿真速度快等优点。仿真结果验证了用S函数建立倒立摆模型的有效性。该方法同样可应用于对其他多级倒立摆的研究中。

The laboratory equipment of inverted pendulum is very precise.Direct physical control research is easy to damage the equipment,and there exists a certain personal safety hidden trouble.In order to quickly get control law and finally apply it to real-time control experiment,the simulation control research is needed.In the simulation research,establishment of the simulation platform is particularly important.This paper takes acceleration control double inverted pendulum as an example.The physical model and mathematical model are given.Based on S-function,a new modeling method of inverted pendulum is proposed in the simulation environment of Matlab/Simulink.This method has many advantages such as the less demanded workload,the simple interface,the small error probability,and the fast simulation speed,etc.Simulation results demonstrate the validity of the inverted pendulum modeling based on S-function.This method can also be applied to other multistage inverted pendulum.