高仿真直线一级倒立摆模型设计

摘要

给出了直线一级倒立摆的带有阻力效应的非线性数学模型，推导了直线一级倒立摆摆杆在摆动过程中所受到的介质阻力和摩擦力的计算公式，并利用MATLAB的S函数建立了直线一级倒立摆的高仿真模型。通过设置仿真模型的相关参数，可使仿真倒立摆与真实倒立摆的工作状态非常接近。%The nonlinear mathematical model of a linear inverted pendulum is given ,in which the resistance effect is considered .The calculation formula of medium resistance and friction on the swinging-rod in the process of swing are deduced ,and the high linear inverted pendulum simulation model is established by using MATLAB S-function .By setting the parameters of model ,the simulation of inverted pendulum can make very close to the working state of the real inverted pendulum .