力矩受限圆轨二级倒立摆系统非线性摆起过程控制

目的研究了力矩受限时圆轨二级倒立摆摆起控制量确定的最优化算法，实现圆轨二级倒立摆非线性系统摆起过程有效控制．方法对于设定的摆起时间，进行时间分段．以每个时间段上控制量为设计变量，以与设计变量相关的终点约束条件为目标函数．将控制量受限条件构造在复杂嵌套的目标函数中，建立了摆起过程控制量计算的最优化方法．结果编制出力矩受限时圆轨二级倒立摆摆起的开环控制量程序与控制量确定．采用计算出控制量实现了摆起过程仿真控制，并成功地实现了圆轨二级倒立摆摆起的实物摆起控制．结论通过力矩受限时倒立摆摆起控制量分析与实物摆起控制实现，表明所提出方法有效性和可行性，为复杂强非线性系统的过程控制提出依据．

Study on Pendulum Swing up about Circular Rail Double Inverted Pendulum with Non-linear System under Limited Torque

This article aims to study optimization method of open-loop control law about circular rail double inverted pendulum under limited torque to complete swing up control.The methods being used are setting swing up time,dividing them into time intervals,regarding control law in each time interval as design variables,taking ending-constrain conditions related with controlled quantities as objective function,and constructing limited torque condition into objective function,and then an optimization problem about determining control law is settled.With such a result as control,law of circular rail double inverted pendulum is programmed and computed; by computing the control,circular rail double inverted pendulum succeeds in controlling swing up.The article then draws the conclusion that validity and feasibility are shown and the foundation will be used for the control of non-linear system.