毕业设计_control of an inverted pendulum-外文文献.doc

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1、ControlofanInvertedPendulumJohnnyLamAbstract:Thebalancingofaninvertedpendulumbymovingacartalongahorizontaltrackisaclassicproblemintheareaofcontrol.Thispaperwilldescribetwomethodstoswingapendulumattachedtoacartfromaninitialdownwardspositiontoanupright

2、positionandmaintainthatstate.Anonlinearheuristiccontrollerandanenergycontrollerhavebeenimplementedinordertoswingthependulumtoanuprightposition.Afterthependulumisswungup,alinearquadraticregulatorstatefeedbackoptimalcontrollerhasbeenimplementedtomainta

3、inthebalancedstate.Theheuristiccontrolleroutputsarepetitivesignalattheappropriatemomentandisfinelytunedforthespecificexperimentalsetup.Theenergycontrolleraddsanappropriateamountofenergyintothependulumsysteminordertoachieveadesiredenergystate.Theoptim

4、alstatefeedbackcontrollerisastabilizingcontrollerbasedonamodellinearizedaroundtheuprightpositionandiseffectivewhenthecart-pendulumsystemisnearthebalancedstate.Thependulumhasbeenswungfromthedownwardspositiontotheuprightpositionusingbothmethodsandtheex

5、perimentalresultsarereported.1.INTRODUCTIONTheinvertedpendulumsystemisastandardproblemintheareaofcontrolsystems.Theyareoftenusefultodemonstrateconceptsinlinearcontrolsuchasthestabilizationofunstablesystems.Sincethesystemisinherentlynonlinear,ithasals

6、obeenusefulinillustratingsomeoftheideasinnonlinearcontrol.Inthissystem,aninvertedpendulumisattachedtoacartequippedwithamotorthatdrivesitalongahorizontaltrack.Theuserisabletodictatethepositionandvelocityofthecartthroughthemotorandthetrackrestrictsthec

7、arttomovementinthehorizontaldirection.Sensorsareattachedtothecartandthepivotinordertomeasurethecartpositionandpendulumjointangle,respectively.MeasurementsaretakenwithaquadratureencoderconnectedtoaMultiQ-3generalpurposedataacquisitionandcontrolboard.M

8、atlab/Simulinkisusedtoimplementthecontrollerandanalyzedata.Theinvertedpendulumsysteminherentlyhastwoequilibria,oneofwhichisstablewhiletheotherisunstable.Thestableequilibriumcorrespondstoastateinwhichthependulumispointingdownwards.Intheabsenceofanycon