东北大学学报（自然科学版）

东北大学学报(自然科学版) ›› 2010, Vol. 31 ›› Issue (1): 107-110.DOI: -

• 论著 • 上一篇    下一篇

基于状态观测器的倒立摆系统控制与实验研究

罗忠;赵士鑫;史志勇;郭立新;   

  1. 东北大学机械工程与自动化学院;
  • 收稿日期:2013-06-20 修回日期:2013-06-20 出版日期:2010-01-15 发布日期:2013-06-20
  • 通讯作者: -
  • 作者简介:-
  • 基金资助:
    国家自然科学基金资助项目(50775031)

Inverted pendulum system control based on state observer and experimental investigation

Luo, Zhong (1); Zhao, Shi-Xin (1); Shi, Zhi-Yong (1); Guo, Li-Xin (1)   

  1. (1) School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110004, China
  • Received:2013-06-20 Revised:2013-06-20 Online:2010-01-15 Published:2013-06-20
  • Contact: Shi, Z.-Y.
  • About author:-
  • Supported by:
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摘要： 针对具有非线性、强耦合等特性的典型多输入多输出控制实验系统,建立了倒立摆系统的结构模型,阐述了系统的工作原理.提出了一种基于状态观测器的控制器设计方法,并在建立系统模型过程中,采用振动和力学原理对倒立摆系统的相关重要参数进行了实验测定.通过实验验证了所提出控制方法的有效性,为倒立摆系统稳定性控制、系统设计以及其他相关研究提供了理论依据和方法.

关键词: 倒立摆, 降维状态观测器, 非线性系统, 控制器

Abstract: For the typical experiment system of nonlinear, strong coupling and multi-input/output control, a structural model of inverted pendulum system was set up with its working principle described. A controller design method based on state observer was proposed, and in the process of setting up the system model, the related basic parameters were measured experimentally on the vibrational mechanical principle of the pendulum system. The validity of the proposed control method was verified by experimental results, thus providing a theoretical basis and relevant method for the stable control and system design of an inverted pendulum system and other related system to be studied.

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