| 电机驱动力矩受限的旋转倒立摆保代价控制 |
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| 引用本文： | 高兴泉,陈虹.电机驱动力矩受限的旋转倒立摆保代价控制[J].吉林大学学报(工学版),2011,41(5):1444-1449. |
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| 作者姓名： | 高兴泉 陈虹 |
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| 作者单位： | 1. 吉林化工学院信息与控制工程学院,吉林省吉林市,132022
2. 吉林大学通信工程学院,长春,130022 |
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| 基金项目： | 国家杰出青年科学基金项目(60725311); 吉林省科技厅项目(200705C13,2009148); 吉林省教育厅项目(2008179) |
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| 摘 要： | 针对电机驱动力矩受限的单级旋转倒立摆系统,提出了一种基于T-S模糊模型同时考虑控制输入约束的保代价控制方法,导出了求解状态反馈控制器的充分条件。该控制问题最后归结为求解一个LMI优化问题。在Quanser公司生产的旋转倒立摆系统中应用的实验结果表明本文所提方法是有效的。
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| 关 键 词： | 自动控制技术 T-S模型 力矩受限 旋转倒立摆 保代价控制 |
Guaranteed cost control of rotary inverted pendulum with limited motor drive torque |
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| GAO Xing-quan,CHEN Hong.Guaranteed cost control of rotary inverted pendulum with limited motor drive torque[J].Journal of Jilin University:Eng and Technol Ed,2011,41(5):1444-1449. |
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| Authors: | GAO Xing-quan CHEN Hong |
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| Affiliation: | GAO Xing-quan1,CHEN Hong2(1.College of Information Science and Control Engineering,Jilin Institute of Chemical Technology,Jilin 132022,China,2.College of Communication Engineering,Jilin University,Changchun 130022,China) |
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| Abstract: | For the rotary inverted pendulum system with limited torque(the armature voltage provided by drive motor is limited),a guaranteed cost control scheme is proposed based on T-S fuzzy model.The sufficient conditions of seeking state feedback gains are derived.The design problem is then converted to solving an optimization problem with a set of Linear Matrix Inequalities(LMI) constraints.Experiment results on the Quanser rotary inverted pendulum validate the efficiency of the proposed scheme. |
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| Keywords: | automatic control technology T-S fuzzy systems limited torque rotary pendulum guaranteed cost control |
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