| 戴彦,吕宏丽.基于Quanser平台的旋转单级倒立摆控制系统的研究与实现[J].唐山学院学报,2021,34(6):7-10,33 |
| 基于Quanser平台的旋转单级倒立摆控制系统的研究与实现 |
| Research and Implementation of Rotary Single Inverted Pendulum Control System Based on Quanser Platform |
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| DOI：10.16160/j.cnki.tsxyxb.2021.06.002 |
| 中文关键词: Quanser平台 PID控制器 旋转单级倒立摆 |
| 英文关键词: Quanser platform PID controller rotary single inverted pendulum |
| 基金项目:唐山市科技创新团队培养计划项目（20130208D） |
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| 中文摘要: |
| 倒立摆系统的稳定控制是控制理论中的典型问题，在倒立摆的控制过程中能够有效反映控制理论中的许多关键问题，如非线性、鲁棒性、跟踪问题等。文章基于Quanser平台，在Matlab/Simulink中搭建了旋转单级倒立摆实时控制系统，对其进行了建模分析，并设计了PID控制器。从仿真结果可以看出，PID控制器实时控制效果较好，倒立摆摆杆角度响应平滑，抖动小。 |
| 英文摘要: |
| The stability control of the inverted pendulum system is a typical problem in control theory. During its control process, many key problems in the control theory could be effectively reflected, such as non-linearity, robustness and tracking problems, etc. Based on Quanser platform, a real-time control system of the rotary single inverted pendulum is built in Matlab/Simulink, and a PID controller is designed. The simulation results show that the PID controller has produced an effective real-time control, and the angle response of the inverted pendulum rod is smooth with small jitter. |
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