| 二轴倒立摆系统的平衡控制研究 |
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| 引用本文： | 崔平,翁正新,谢剑英.二轴倒立摆系统的平衡控制研究[J].实验室研究与探索,2007,26(1):24-25,30. |
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| 作者姓名： | 崔平 翁正新 谢剑英 |
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| 作者单位： | 上海交通大学,自动化系,上海,200030 |
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| 摘 要： | 以固高GIP-200L二轴倒立摆实验系统为对象,研究了二轴倒立摆系统的平衡控制问题。首先利用拉格朗日方法建立了二轴倒立摆系统的数学模型,利用极点配置方法进行控制器设计,然后在Matlab环境下利用Simulink对倒立摆系统进行了非线性仿真研究。实验结果表明本文所设计的控制器能够达到倒立摆系统的平衡控制要求。
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| 关 键 词： | 非线性系统 建模 控制算法 仿真 |
| 文章编号： | 1006-7167（2007）01-0024-03 |
| 收稿时间： | 2006-02-20 |
| 修稿时间： | 2006-02-20 |
The Balance Control of Two-Stage Inverted Pendulum System |
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| CUI Ping,WENG Zheng-xin,XIE Jian-ying.The Balance Control of Two-Stage Inverted Pendulum System[J].Laboratory Research and Exploration,2007,26(1):24-25,30. |
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| Authors: | CUI Ping WENG Zheng-xin XIE Jian-ying |
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| Institution: | Dept. of Automation, Shanghai Jiaotong Univ., Shanghai 200030, China |
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| Abstract: | This paper studies the balance control of two-stage inverted pendulum system based on gogoole GIP-200L experimental system.First its mathematic model is built with Lagrange method,the controller is designed with polar placement method,and then nonlinear simulation is realized with Simulink under MATLAB.The result shows that the designed controller can meet the balance control requirements of the two-stage inverted pendulum. |
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| Keywords: | Simulink |
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