| 基于广义扩展线性化方法的单级倒立摆位移控制 |
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| 引用本文： | 李秋菊,刘楷安.基于广义扩展线性化方法的单级倒立摆位移控制[J].华北水利水电学院学报,2011,32(5):95-98. |
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| 作者姓名： | 李秋菊 刘楷安 |
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| 作者单位： | 华北水利水电学院,河南郑州,450011 |
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| 基金项目： | 河南省重大科技攻关项目(092102210234); 华北水利水电学院青年科研基金项目(HSQJ2009010) |
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| 摘 要： | 针对单级倒立摆系统的位移控制问题,运用拉格朗日方程建立了单级倒立摆系统的动力学模型,并对该非线性的动力学模型进行了广义的扩展线性化处理.利用MATLAB符号语言,设计并给出基于非线性反馈的单级倒立摆系统位移控制器.仿真结果表明,控制器能够达到期望的控制效果,且具有一定的鲁棒性.
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| 关 键 词： | 单级倒立摆 位移控制 扩展线性化 仿真 |
Displacement Control of Inverted Pendulum Based on Generalized Extended Linearization |
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| LI Qiu-ju,LIU Kai-an.Displacement Control of Inverted Pendulum Based on Generalized Extended Linearization[J].Journal of North China Institute of Water Conservancy and Hydroelectric Power,2011,32(5):95-98. |
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| Authors: | LI Qiu-ju LIU Kai-an |
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| Affiliation: | LI Qiu-ju,LIU Kai-an (North China Institute of Water Conservancy and Hydroelectric Power,Zhengzhou 450011,China) |
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| Abstract: | Aiming at the displacement control of inverted pendulum system,the dynamic model of the system was established by Lagrange equation,and then the nonlinear dynamic model was treated by generalized extended linearization.A displacement controller of the inverted pendulum based on nonlinear feedback was designed using the symbolic language of MATLAB.The result of simulation showed that the controller could achieve the desired control effect and had certain robustness. |
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| Keywords: | inverted pendulum displacement control extended linearization simulation |
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