| 直线型一级倒立摆状态反馈控制设计及实现 |
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| 引用本文： | 杨平,徐春梅,王欢,朱颖,于超. 直线型一级倒立摆状态反馈控制设计及实现[J]. 上海电力学院学报, 2007, 23(1): 21-25,32 |
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| 作者姓名： | 杨平 徐春梅 王欢 朱颖 于超 |
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| 作者单位： | 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： | 上海市重点学科项目（P1301）;上海市市级精品课程建设项目;上海电力学院重点教改项目. |
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| 摘 要： | 针对单级倒立摆装置,设计了4种状态反馈制方案.通过仿真试验和实验证实所提出的状态反馈控制方案都是成功的.分析和对比结果表明:基于LQR的反推法和基于主导基点的设计方法都是有效的.
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| 关 键 词： | 状态反馈控制 倒立摆 实时控制 控制设计 |
| 文章编号： | 1006-4729（2007）01-0021-05 |
| 收稿时间： | 2007-02-26 |
| 修稿时间： | 2007-02-26 |
The Design and Implementation of An Inversed Pendulum State Variable Feedback Control System |
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| YANG Ping,XU Chun-mei,WANG Huan,ZHU Ying and YU Chao. The Design and Implementation of An Inversed Pendulum State Variable Feedback Control System[J]. Journal of Shanghai University of Electric Power, 2007, 23(1): 21-25,32 |
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| Authors: | YANG Ping XU Chun-mei WANG Huan ZHU Ying YU Chao |
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| Affiliation: | School of Electric Power & Automation Engineering,Shanghai University of Electric Power,Shanghai 200090,China,School of Electric Power & Automation Engineering,Shanghai University of Electric Power,Shanghai 200090,China,School of Electric Power & Automation Engineering,Shanghai University of Electric Power,Shanghai 200090,China,School of Electric Power & Automation Engineering,Shanghai University of Electric Power,Shanghai 200090,China and School of Electric Power & Automation Engineering,Shanghai University of Electric Power,Shanghai 200090,China |
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| Abstract: | The four schemes for an inversed pendulum state variable feedback control system are designed.The feasibility of the four schemes is confirmed by simulation tests and practical tests.The analytical results demonstrate that the LQR based design and dominant poles based design methods are effective. |
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| Keywords: | state variable feedback control inverted pendulum real-time control control design |
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