倒立摆控制方法的比较研究

摘要

倒立摆系统作为典型的控制对象,不仅对控制设计提出了难题,同时为很多先进控制方法的研究和应用提供了一个很好的实验平台。该文分别用PID控制法、优化控制策略的LQR及极点配置法等3种方法对单级倒立摆系统进行控制,并利用MATLAB仿真对3种控制算法的效果进行了对比,讨论了3种方法之间的优缺点。仿真实验表明：PID法与极点配置法具有较好的瞬态性,LQR法具有较好的鲁棒性。在实际应用中,可根据控制系统的具体指标要求选择适合的控制方法,具有一定的指导意义。%Inverted pendulum system is a typical control object, which not only presents a difficult problem for the control design, but also provides a good experimental platform for the research and appli-cation of many advanced control methods. The paper using the PID control method, the optimal control strategy of the LQR and the pole assignment method, three methods for the control of a single inverted pendulum system, the effect of the three control algorithms is compared with the MATLAB simulation, the advantages and disadvantages of the three methods are discussed in the experimental results. Experi-mental results show that the PID method and pole assignment method have good transient performance, and LQR method has good robustness. In practical application, according to the specific requirements of the control system selects the appropriate control method, which has a certain guiding significance.