基于三步法的二级倒立摆系统研究

Research on Double Inverted Pendulum System Based on Three-Step Method

【目的】为解决二级倒立摆系统非线性和强耦合问题,获得更好的稳定性和控制性,本研究设计一种基于三步法的控制器。【方法】建立二级倒立摆系统的状态空间模型,并划分为三个子系统。按照三步法控制器的设计步骤,对二级倒立摆子系统进行控制器设计,避免倒立摆系统在整体分析时出现耦合问题。【结果】通过李雅普诺夫函数证明了该控制器的稳定性。【结论】仿真结果证明,该控制器在二级倒立摆系统稳定控制中的有效性,具有更小的超调和平稳的响应过程。

[Purposes]In order to solve the nonlinear and strong coupling problems of the double inverted pendulum system and obtain better stability and control performance,a controller based on three-step method is designed in this study.[Methods]The state space model of the double inverted pendulum system is established and divided into three subsystems.According to the three-step controller design steps,the controller design of the double inverted pendulum subsystem is carried out to avoid the coupling problem of the inverted pendulum system in the overall analysis.[Findings]The stability of the controller was proved by Lyapunov function.[Conclusions]The simulation results show that the controller is effective in the stability control of the double inverted pendulum system,and has smaller overshoot and stable response process.