一级倒立摆系统摆上舞蹈控制

倒立摆是一个典型的高阶次、多变量、非线性的不稳定系统.研究一级倒立摆系统摆上舞蹈控制器设计,实现了摆杆的摆起控制、稳定控制、小车任意位置控制、"快四一慢四"姿态控制和摆杆超级大旋转控制等.应用软切换的控制方法防止了在摆起控制器及平衡控制器切换时的剧烈抖动作用.为避免实际运行过程中小车撞墙现象的发生,设计了PID控制器来对小车的位置进行限制.基于直线一级倒立摆系统完成了摆上舞蹈的实物控制.

Dance-controller research and design based on inverted-pendulum system

Inverted pendulum is a typical model of high-order,multivariable,nonlinear and unsteady system.A dance-controller,which completes the stance control of a Cart-Pendulum system,is designed in this paper.The dance stance includes swing-up and stabilization control,the pendulum rotate control and cart random position control.A switching method is adopted to avoid unsteady motion between the swing-up controller and stabilization controller.A PID controller is designed to prevent the cart from bumping the wall.Ba...