基于 ELVI S的倒立摆二次型最优控制实验系统设计

摘要

The inverted‐pendulum experimental system using LQR method is designed and developed based on NI‐ELVISⅡvirtual instrument platform .First ,the control principle of the inverted‐pendulum is analyzed and the model of control system is built .Then the LQR controller is designed .The front panel for experimental system is programmed using LabVIEW . And simulation and experimental study on this system are all produced in detail .The experimental results prove that the ELVIS experimental platform is more innovative than traditional devices and methods ,and the students can implement more creative experiments on it .Thus the interests and activities of students can be aroused greatly ,and it is helpful to improve the teaching quality .%基于NI‐ELVISⅡ虚拟仪器实验平台设计开发了倒立摆平衡控制实验系统。首先分析了倒立摆的控制原理，建立了倒立摆控制系统的数学模型，设计了二次型最优控制器；然后在LabVIEW环境中，设计了倒立摆平衡控制实验的前面板，并进行了仿真和实验研究。实验结果表明：该倒立摆实验系统具有良好的创新性，利用此系统学生可以自行开发不同的控制方法，从而激发学生学习控制理论的兴趣，调动学生的主动性，进一步提高实验教学质量。