共查询到18条相似文献,搜索用时 390 毫秒
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基于Lie理论的倒立摆系统的控制算法研究 总被引:1,自引:1,他引:1
该文通过能量反馈和最优控制相结合的方法实现倒立摆系统的自摆起和稳定控制。在摆起阶段采用能量反馈方法实现快速摆起,而在平衡稳定控制阶段,采用一种非线性系统微分几何方法一李理论,对倒立摆系统进行近似线性化,此种线性化方法使模型更多包含原系统主要的非线性部分,更能逼近实际系统,针对采用李理论得到的近似线性化模型,对倒立摆系统进行最优稳定控制设计。仿真和实时控制试验结果表明,文中提出的李理论近似模型线性化方法对于控制器设计结果是有效的,而且采用的能量反馈和最优控制相结合的联合控制策略能够成功实现倒立摆系统的自摆起和稳定控制过程。 相似文献
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针对旋转倒立摆自动起摆的控制问题,提出了基于BVP算法的自动起摆控制策略.该方法将倒立摆起摆控制问题转化成求解非线性方程的两点边值问题(Two-point Boundary Value Problem BVP),构造了含参变量具有傅立叶级数形式的起摆力矩函数,将力矩函数代入倒立摆系统,利用Matlab工具箱中的bvp4c函数求解两点边值条件,获得起摆过程的起摆控制的时间序列.基于BVP算法的起摆控制的求解,本质上属于开环前馈控制.为了抑制参数摄动,进行了平衡点附近的稳摆控制设计.稳摆设计是针对系统模型不稳定性和非最小相位特性分别进行的.对起摆、稳摆及其切换过程进行了仿真和实验研究,验证了所提出的自动起摆控制策略的有效性. 相似文献
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研究了小车二级并行摆系统及小车二级串行摆系统的摆起控制器设计问题,并给出了这两种系统的实验结果.首先,针对上述两种系统,设计了两步控制器,即1)摆起双摆达到倒立稳摆位置的控制器,2)进行稳摆控制的控制器.其次,由于小车二级摆位移受轨道长度限制,又考虑了小车位移的控制问题.上述两种实际系统的摆起及稳摆成功,验证了所提出设计方法的有效性. 相似文献
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采用牛顿-欧拉方法建立并行二级倒立双摆系统的数学模型.针对车轨长度受限的并行二级倒立摆系统,本文提出了一种基于能量控制思想和直接李雅普诺夫函数方法的摆起控制策略.所设计的控制器保证了小车的速度收敛到零和摆杆在达到垂直向上的位置时摆杆的能量为零.同时,它能实现对并行双摆的稳摆控制.控制器简单易行,参数调节方便.在并行二级倒立摆摆起控制器设计的基础上,简述了三级车摆的摆起控制器设计过程.最后,通过计算机仿真验证了控制方法在工作效率和抗干扰方面能保持良好的控制性能. 相似文献
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倒立摆控制系统是一个复杂的、不稳定的、非线性系统,对倒立摆系统的研究能有效的反映控制中的许多典型问题。对一级直线型倒立摆,首先运用牛顿运动定律建立倒立摆系统的运动方程,进而求出系统的状态空间表达式,建立数学模型。其次运用状态反馈极点配置法,以小车的位移、速度,摆杆与竖直向上的偏角、摆角变化速度作为四个状态变量,由给定的控制要求求出状态反馈增益矩阵,将极点配置在控制要求的位置。另外考虑到系统的某些状态如小车速度和摆杆角速度不容易直接测量等,本文分别基于小车和摆杆子系统设计了两个全维观测器,分别对状态量进行了重构并给出了仿真结果分析。 相似文献
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The swing-up maneuver of the double pendulum on a cart serves to demonstrate a new approach of inversion-based feedforward control design introduced recently. The concept treats the transition task as a nonlinear two-point boundary value problem of the internal dynamics by providing free parameters in the desired output trajectory for the cart position. A feedback control is designed with linear methods to stabilize the swing-up maneuver. The emphasis of the paper is on the experimental realization of the double pendulum swing-up, which reveals the accuracy of the feedforward/feedback control scheme. 相似文献
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Swing-up and LQR stabilization of a rotary inverted pendulum 总被引:2,自引:0,他引:2
In this article, we consider the swing-up and linear quadratic regulator (LQR) stabilization of a rotary inverted pendulum.
A DC motor rotates a rigid arm. At the end of the rigid arm is a joint with a pendulum suspended from it. Two encoders check
the degree of the rigid arm and the pendulum every 0.5 ms. This article describes a modified bang-bang control which swings
the pendulum up safely and fast. In order to solve the stabilization problem, we used a linear quadratic regulator. When the
user gives a large disturbance to the pendulum so that it loses its position, it quickly recovers to the upright position.
Experimental results showed that the proposed bang-bang and LQR controllers can stabilize a rotary inverted pendulum system
within 3.0 s from any starting point. The system also showed robustness to a large disturbance. 相似文献
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We propose a control law to swing-up the acrobot from an initial domain to a neighbourhood of the vertically upward equilibrium position. The methodology involves reducing the system to a one degree-of-freedom system, much like a simple pendulum, evolving on a critical value of the energy level set. The system is guaranteed to converge to a neighbourhood of the upward equilibrium position about which a linear feedback controller is switched on to stabilize the system. 相似文献
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Attitude control of a triple inverted pendulum 总被引:1,自引:0,他引:1
The paper is concerned with the attitude control of a triple inverted pendulum. The lowest hinge is free for rotation and the torques of the upper two hinges are manipulated not only to stabilize the pendulum but also to control its attitude. The control system is designed by using CAD developed by the author and is realized by a minicomputer. The designed controller is a robust servo controller for a linearized model in the neighbourhood of the upright position of triple inverted pendulum. Experimental results show that the designed controller works satisfactorily. 相似文献
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提出了一种基于混沌优化线性二次最优控制器权矩阵参数的三级倒立摆控制方法;根据系统控制的目标,设计了一类适合多变量系统的优化性能指标函数;这类性能指标函数综合考虑三级倒立摆系统各个输出间的重要程度,以及动态特性和稳定性要求,结合文中的性能指标函数,首先利用混沌粗搜索得到控制器权矩阵参数的次优解,再在次优解的邻域内继续寻优,得到全局最优的权矩阵参数;利用这种方法得到的LQ控制器,有效地实现了对三级倒立摆的稳定控制。 相似文献
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切换控制在倒立摆系统摆起和镇定中的应用 总被引:2,自引:0,他引:2
本文针对一级直线型倒立摆对象,基于非线性共振原理和线性二次型最优状态反馈控制,提出了一种基于状态的切换控制策略,实现了倒立摆的快速摆起和镇定。最后通过仿真实验表明,本文提出的方法对一级直线型倒立摆系统的摆起和镇定具有较好效果。 相似文献
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Linear quadratic regulator(LQR) and proportional-integral-derivative(PID) control methods, which are generally used for control of linear dynamical systems, are used in this paper to control the nonlinear dynamical system. LQR is one of the optimal control techniques, which takes into account the states of the dynamical system and control input to make the optimal control decisions.The nonlinear system states are fed to LQR which is designed using a linear state-space model. This is simple as well as robust. The inverted pendulum, a highly nonlinear unstable system, is used as a benchmark for implementing the control methods. Here the control objective is to control the system such that the cart reaches a desired position and the inverted pendulum stabilizes in the upright position. In this paper, the modeling and simulation for optimal control design of nonlinear inverted pendulum-cart dynamic system using PID controller and LQR have been presented for both cases of without and with disturbance input. The Matlab-Simulink models have been developed for simulation and performance analysis of the control schemes. The simulation results justify the comparative advantage of LQR control method. 相似文献