倒立摆分段控制方法

Segment Control Strategy for Inverted Pendulum

为了解决非线性控制器设计参数求取困难的瓶颈问题,使用极点配置方法设计出线性控制器,以此为基础设计反馈线性化非线性控制器的参数,形成了系统化的设计方法,成功解决了原非线性控制器参数靠试凑的难题。所给出的方法在倒立摆的分段控制中取得了良好的仿真结果,说明所设计的方法便捷可行。

This paper is devoted to tackle the difficult task of determining the design parameters in a nonlinear controller. The problem is solved in an systematic way as follows: A linear counterpart(linear segment) of the original nonlinear control system(nonlinear segment) is formed by linearization; the pole placement method is applied to find the feedback matrix for the linear controller; this matrix is simultaneously used to formulate a nonlinear algebraic equation, which is used to find the required feedback linearization nonlinear controller. An inverted pendulum is taken as an example, and simulations show the satisfactory stability and dynamic performance.