一级倒立摆系统的快速稳定方法研究

Fast and stable method for a class of inverted pendulum system

以直线一级倒立摆系统为被控研究对象,分析了倒立摆系统主要控制方法,通过牛顿—欧拉方法建立数学模型,以提高系统的收敛速度为目的,采用极点配置法设计具有合适极点的控制器,通过MATLAB软件进行仿真,并在固高实验平台上加以测试验证。经过对比验证的实验结果显示,系统可以在2秒内达到稳定状态,且该方法设计的控制器抗干扰能力更强。

With the linear inverted pendulum system as the controlled object of study, this paper analysis the main control method of the inverted pendulum system, and establishes the mathematical model by Newton Euler method. In order to improve the convergence speed of the system, the pole placement method is adopted to select the appropriate pole and design the controller. The design method is simulated in MATLAB, and tested in the Googol's platform. According to the comparison of test system, it could reach the stable state in 2 seconds with its stronger ability of anti-interference for the controller designed by the method.