最优控制方法在直线倒立摆中的应用

摘要

Assuming that the inverted pendulum system itself instability ( including the friction force) is ignored, this system can be regarded as a typical motion of rigid body system. Based on the mathematical model ing method with Newton's laws of mechanics, the quadratic optimal control theory is used in primary inverted pendulum control and the inertial coordinate system dynamics equa-tion with the classical mechanics theory is used to be satisfied with the performance requirements of the general stability and ro-bustness of the control system. This article uses MATLAB to simulate the inverted pendulum system and analyzes the simulation results.%假设忽略掉倒立摆系统本身不稳定因素(摩擦阻力)的影响后，倒立摆系统就可以看成是一个典型的运动刚体系统。基于牛顿力学定律的数学建模方法，应用二次型最优控制理论对一级倒立摆实现控制，使用在惯性坐标系内的经典力学理论动力学方程，能满足控制系统的一般稳定性和鲁棒性的性能要求。采用MATLAB对倒立摆系统进行仿真模拟实验，并对仿真结果进行分析。