倒立擺控制系統(tǒng)是一個典型的高階次、不穩(wěn)定、多變量、非線性和強藕合控制系統(tǒng)。本文研究對象是基于研華公司數(shù)據(jù)采集卡PCI—1710—B 的倒立擺控制系統(tǒng)。通過對一級倒立擺系統(tǒng)控制原理分析、數(shù)學建模分析、狀態(tài)反饋設計、MATLAB 仿真，然后在搭建的實驗平臺上用LQR 方法編程實現(xiàn)對其最優(yōu)控制。MATLAB 仿真結(jié)果良好，軟件部分采用VB 開發(fā)，實現(xiàn)了對系統(tǒng)的‘倒立’控制和相關(guān)實時參數(shù)的顯示。
關(guān)鍵詞：倒立擺 數(shù)據(jù)采集 LQR 方法 系統(tǒng)仿真 最優(yōu)控制
Abstract: Inverted Pendulum is a control system, with the feature of high order, instability, multi-variable, non-linearity and tight coupling. Research object of the paper is inverted pendulum control system based on the PCI — 1710 — B Multifunction Card of ADVANTECH Company. We analyze its control principle and mathematical model, and make the status feedback and system simulation with MATLAB software. Based on the experiment platform system, it programs the computer to control the system making used of LQR method. The
Simulation result is effective. The software part is programmed by Visual Basic and the practical result indicates that it makes the inverted pendulum steadily stabilized at "inverted" state and concerning actual time parameters showed in program interface.
Key words: Inverted Pendulum, Data Collection, LQR Method, System Simulation, Optimal Control