倒立摆状态观测器的输出反馈控制器研究

Research on Output Feedback Controller of Inverted Pendulum State Observer

以一级倒立摆为被控对象,详细介绍了倒立摆的状态方程建模过程。在此基础上,介绍了基于状态观测器的输出反馈控制器理论。分析了状态观测器的建立过程,当系统能控、能观时,对分离定理进行了详细说明。以一级倒立摆的状态方程为对象,根据分离定理,建立了基于一级倒立摆的状态观测器的输出反馈控制器闭环系统动态特性方程,并以该方程为研究对象,用MATLAB对该系统进行了仿真研究。结果表明,用状态估计值代替系统的真实状态后所得的闭环系统仍然具有原闭环系统渐进的稳定特性和良好的动态性能。

Taking the first⁃order inverted pendulum as the controlled object,the state equation modeling process of the inverted pendulum was introduced in detail.On this basis,the output feedback controller theory based on state observer was introduced.The process of establishing state observer was analyzed,and the separation theorem was explained in detail when the system could be con⁃trolled and viewed.Finally,based on the separation theorem,the dynamic characteristic equation of the closed⁃loop system of the out⁃put feedback controller based on the first⁃order inverted pendulum was established.Taking the obtained dynamic characteristic equation as the research object,the simulation study of the system was carried out by using MATLAB.The results show that the closed⁃loop sys⁃tem with the state estimation value instead of the real state of the system still has the progressive stability and good dynamic performance of the originally closed⁃loop system.