摘要
围绕双级倒立摆案例,对极点配置状态反馈控制器的设计方法展开讨论,对最终的计算结果进行仿真,并通过仿真结果分析了系统的稳定性、动态性能和稳态误差情况。倒立摆的开环系统状态空间模型状态不稳定且动态性能较差,通过引进极点配置状态反馈控制器,倒立摆的闭环系统状态达到稳定,而且动态性能得到改善。
In this paper,through centering on the cases of double-stage inverted pendulum,the design method of pole configuration state feedback controller was discussed and the final calculation results were simulated to analyze system’s stability,dynamic property and steady-state error.In addition,as for the state-space model of the inverted pendulum’s open-loop system which has instable state and poor dynamic property,the introduction of the pole configuration state feedback controller improved its stable state and dynamic performance.
作者
王俊伟
于新海
WANG Jun-wei;YU Xin-hai(College of Mechanical and Electrical Engineering,Hetao University)
出处
《化工自动化及仪表》
CAS
2021年第1期15-19,共5页
Control and Instruments in Chemical Industry
基金
国家自然科学基金项目(61901162)
内蒙古乌梁素海流域山水林田湖草生态保护修复试点工程市级支持计划项目(2019HYYSZX)
河套学院校级科研项目(HYZY201710)。
关键词
状态反馈控制器
双级倒立摆极点配置
能控标准型
爱克曼公式
动态特性
稳态误差
state feedback controller
pole configuration of double-stage inverted pendulum
standard energy control
Eckman formula
dynamic property
steady-state error
