| 非线性PID控制在倒立摆控制系统中的仿真研究 |
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| 引用本文： | 徐春梅,张浩,杨平,孙琦.非线性PID控制在倒立摆控制系统中的仿真研究[J].上海电力学院学报,2009,25(2):105-108,112. |
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| 作者姓名： | 徐春梅 张浩 杨平 孙琦 |
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| 作者单位： | 1. 上海电力学院,电力与自动化工程学院,上海,200090;同济大学,CIMS研究中心,上海,200092
2. 上海电力学院,电力与自动化工程学院,上海,200090 |
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| 基金项目： | 上海高校选拔培养优秀青年教师科研专项基金，上海市市级精品课程建设项目 |
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| 摘 要： | 针对直线一级倒立摆的单输入双输出、强非线性、强耦合的不稳定系统,提出了双回路非线性PID控制方案,即分别采用一个控制器去控制小车的位移和摆杆的偏角,以同时实现小车位移和摆杆偏角的闭环控制.仿真结果表明,该控制方案是可行的、有效的,并且具有很强的抗干扰能力.
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| 关 键 词： | 倒立摆 非线性PID控制 s函数 仿真 |
| 收稿时间： | 9/1/2008 12:00:00 AM |
Simulation Research on Nonlinear PID Controller in Inverted Pendulum Control System |
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| XU Chun-mei,ZHANG Hao,YANG Ping and SUN Qi.Simulation Research on Nonlinear PID Controller in Inverted Pendulum Control System[J].Journal of Shanghai University of Electric Power,2009,25(2):105-108,112. |
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| Authors: | XU Chun-mei ZHANG Hao YANG Ping and SUN Qi |
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| Affiliation: | 1.School of Electric Power and Automation Engineering;Shanghai University of Electric Power;Shanghai 200090;China;2.CIMS Research Center;Tongji University;Shanghai 200092;China |
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| Abstract: | Nonlinear PID controller(NLPID) control plan is proposed for single-input-two-output unstable invert pendulum system with strong nonlinearity and strong coupling,with two controllers for controling the position of dolly and the angle of haulm,which can realize close-loop controlling of the position of dolly and the angle of haulm simultaneity.The results demonstrate that this plan has the advantages of high effectiveness,good feasibility and better anti-disturbance properties. |
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| Keywords: | inverted pendulum nonlinear PID control s-function simulation |
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