| 基于嵌入式控制器的直线倒立摆最优控制研究 |
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| 引用本文： | 刘翔,王中杰.基于嵌入式控制器的直线倒立摆最优控制研究[J].中国科技信息,2014(6):134-137. |
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| 作者姓名： | 刘翔 王中杰 |
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| 作者单位： | 同济大学电子与信息工程学院控制系,上海201804 |
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| 摘 要： | 倒立摆系统是典型的非线性、多变量、强耦合的系统,广泛应用于对各种控制理论和控制策略的有效性的检验。文中仅使用固高公司提供的伺服电机驱动器和倒立摆本体,另行设计了ARM控制器、信号连接电路,编写了运动控制函数库,搭建了一套基于ARM控制器和Linux系统的倒立摆控制系统,并在该实验平台使用PID,极点配置,LQR等算法完成仿真实验,并运用LQR对实际系统进行控制,实现了良好的控制效果。
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| 关 键 词： | 倒立摆 ARM控制器 PID 极点配置 LQR |
Research on an optimal embedded control system of linear inverted pendulum |
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| Liu Xiang Wang Zhongjie.Research on an optimal embedded control system of linear inverted pendulum[J].CHINA SCIENCE AND TECHNOLOGY INFORMATION,2014(6):134-137. |
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| Authors: | Liu Xiang Wang Zhongjie |
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| Institution: | Liu Xiang Wang Zhongjie Academy of Electronic and Information Engineering, Tongji University, Shanghai 201804 |
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| Abstract: | Inverted pendulum system is a typical nonlinear, multivariable, strong coupling system. It has been widely used in experiments of various control theories and strategies. The paper implements an embedded Linux control system of linear inverted pendulum with only using the basis of googol inverted pendulum system. This paper designs a signal link circuit between the driver of servo motor and ARM processer, and an application function library of motion control. And analyzes the result of automatically swing up experiments on this system based on PID controller, pole assignment ,LQR controller. And accomplish the control of inverted pendulum system with BANG-BANG and LQR. |
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| Keywords: | Inverted Pendulum ARM Processor PID controller pole assignment LQR controller |
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