倒立摆系统的自摆起和稳定控制

为了实现一级倒立摆系统自摆起和稳定控制，该文采用了最优控制与PID控制相结合的控制方法。首先，采用Bang—Bang控制理论设计开环时间最优控制器，实现倒立摆的平稳快速摆起，同时设计经典PID控制器控制小车位置；然后采取线性二次型最优控制理论设计LQR控制器，将倒立摆稳定在平衡位置。计算机仿真和倒立摆系统实时仿真表明，文中提出的控制策略和控制算法得到了很好的验证，取得了满意的效果。

Control of Swing Up and Stabilization of an Inverted Pendulum System

In order to realize the inverted pendulum system's self-swinging up and stable control,optimization control and PID control method are used together in this paper.First,an open-loop time-optimal controller based on Bang-Bang control theory is designed to swing up the inverted pendulum stably and quickly.At the same time,a PID controller is introduced to control the cart's position. And then,a LQR controller based on Linear Quadratic Optimal control theory is developed to keep the inverted pendulum stabilized.Both the computer simulation and the real time control simulation results show that the control strategies and algorithms proposed in this paper are feasible and effective.