摘要
对单级倒立摆系统自摆起和平衡控制问题进行了研究,分别采用Bang-Bang最短时间控制和线性二次型最优输出调节控制(LQY)对其进行了控制。首先,使用牛顿—欧拉方程推导了倒立摆系统的动力学模型,基于此模型在MATLAB/Simulink中建立了SimMechanics可视化仿真系统。利用Bang-Bang控制和LQY控制理论,设计了单级倒立摆快速自摆起和稳定平衡控制算法。最后,通过仿真结果验证了该最优控制算法简单高效,同时具有响应速度快、消耗能量少、稳态精度高等优点,实现了最优控制的预期目标。
The problem of self swing-up and balance control of single inverted pendulum system is studied,and the control is carried out by using Bang-Bang shortest time control and linear quadratic optimal output regulation control(LQY)respectively.Based on the dynamic model of inverted pendulum system derived by Newton-Euler equation,a SimMechanics visual simulation system is established in MATLAB/Simulink.Next,Bang-Bang control and LQY control theory are used to design the fast swing-up and balance control algorithm of inverted pendulum.Finally,the simulation results show that the optimal control algorithm is simple and efficient.It has the advantages of fast response speed,low energy consumption,high steady state precision and so on,therefore,the prospective aim of optimal control is achieved.
作者
方鹏
王旭
匡毅
Fang Peng;Wang Xu;Kuang Yi(School of Mechanical Engineering, University of Shanghai for Science & Technology, Shanghai 200093, China)
出处
《农业装备与车辆工程》
2017年第11期47-50,95,共5页
Agricultural Equipment & Vehicle Engineering
