基于Labview的一级环形倒立摆逆系统轨迹法自动摆起控制

The Control of Trajectory Method for First-order Annular Inverted Pendulum System Based on Labview

利用求解非线性方程两点边值问题,得到逆系统参考轨迹;通过设计逆系统前馈控制及LQR反馈控制器,对参考轨迹实时跟踪。基于QNET 2.0旋转倒立摆实验平台,采用Labview编程软件,实现了一级环形倒立摆的自动摆起与稳定的实物控制。实验结果证明控制算法的有效性,可以使一级环形倒立摆在一个摆周期内自动摆起,并保持稳定状态。与能量法自动起摆实验比较,逆系统算法具有较好的快速性和稳定性。

The inverse system reference trajectory is obtained by solving the two-point boundary value problem of the nonlinear equation. The reference trajectory is tracked in real time by designing the inverse system feed-forward control and the LQR feedback controller. Based on the QNET 2.0 rotating inverted pendulum experiment platform, Labview programming software is used to realize the automatic swinging and stable physical control of the first-order annular inverted pendulum. The experimental results prove that the effectiveness of the control algorithm can make the first-order annular inverted pendulum swing automatically in a pendulum cycle and maintain a stable state. Compared with the automatic swing experiment of energy method, the inverse system algorithm has better speed and stability.