| 三级倒立摆的自动摆起与稳定控制 |
| |
| 引用本文： | 张永立,程会锋,李洪兴.三级倒立摆的自动摆起与稳定控制[J].控制理论与应用,2011,28(1):37-45. |
| |
| 作者姓名： | 张永立 程会锋 李洪兴 |
| |
| 作者单位： | 大连理工大学,电子信息与电气工程学部,辽宁,大连,116024 |
| |
| 基金项目： | 教育部高等学校博士学科点专项科研基金资助项目(20090041110003); 国家自然科学基金资助项目(60774049, 60834004); 国家“973”计划资助项目(2009CB320602). |
| |
| 摘 要： | 采用非线性逆系统轨迹控制实现三级倒立摆的自动摆起,并设计了变增益LQR控制器将其稳定在竖直倒立位置.首先,三级倒立摆从静止下垂状态摆起到竖直倒立位置的过程,从数学角度看是一个两点边值问题,通过求解该两点边值问题获得摆起的标称轨迹,利用逆系统方法设计前馈控制,同时结合增益调度反馈控制使摆起过程稳定;其次,在稳定控制阶段,...
|
| 关 键 词： | 三级倒立摆 逆系统前馈控制 两点边值问题 增益调度反馈控制 变增益LQR |
| 收稿时间： | 2009/11/23 0:00:00 |
| 修稿时间： | 2010/3/17 0:00:00 |
The swing-up and stabilization of the triple inverted pendulum |
| |
| ZHANG Yong-li,CHENG Hui-feng and LI Hong-xing.The swing-up and stabilization of the triple inverted pendulum[J].Control Theory & Applications,2011,28(1):37-45. |
| |
| Authors: | ZHANG Yong-li CHENG Hui-feng and LI Hong-xing |
| |
| Affiliation: | Faculty of Electronic Information and Electrical Engineering, Dalian University of Technology,Faculty of Electronic Information and Electrical Engineering, Dalian University of Technology,Faculty of Electronic Information and Electrical Engineering, Dalian University of Technology |
| |
| Abstract: | The swing-up of the triple inverted pendulum is achieved by inversion-based trajectory control. The variablegain linear quadratic regulator is designed to stabilize the triple inverted pendulum in the upward position. The transient process of swing-up of the triple inverted pendulum is treated as a nonlinear two-point boundary value problem. The normal trajectories of swing-up are obtained by solving a two-point boundary value problem, and a feedforward control is designed by using the inverse system method. A gain-scheduled feedback is used to stabilize the system during the swing-up. In addition, the triple inverted pendulum in the upward position is stabilized by utilizing the variable-gain linear quadratic regulator. Simulation results demonstrate the effectiveness of the proposed control scheme. |
| |
| Keywords: | triple inverted pendulum inversion-based feedforward control two-point boundary value problem feedback control based on gain-scheduled variable-gain linear quadratic regulator(VGLQR) |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
| 点击此处可从《控制理论与应用》浏览原始摘要信息 |
|
点击此处可从《控制理论与应用》下载全文 |
|
