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倒立摆控制系统是一个典型的高阶次、不稳定、多变量、非线性和强藕合控制系统。本文研究对象是基于研华公司数据采集卡PCI—1710—B的倒立摆控制系统。通过对一级倒立摆系统控制原理分析、数学建模分析、状态反馈设计、MATLAB仿真,然后在搭建的实验平台上用LQR方法编程实现对其最优控制。MATLAB仿真结果良好,软件部分采用VB开发,实现了对系统的‘倒立’控制和相关实时参数的显示。
Inverted pendulum control system is a typical high-order, unstable, multivariable, nonlinear and strong coupling control system. This article is based on Advantech’s data acquisition card PCI-1710-B inverted pendulum control system. Through the control principle analysis, mathematical modeling analysis, state feedback design and MATLAB simulation of the inverted pendulum system, the optimal control of the inverted pendulum system is realized by LQR method programming. MATLAB simulation results are good, the software part of the use of VB development, to achieve the system ’inverted’ control and related real-time parameters of the display.