一种倒立摆稳定反馈系统的设计与仿真

为达到倒立摆的稳定控制,在建立倒立摆状态反馈系统数学模型的基础上,应用状态反馈控制配置系统极点设计倒立摆系统的控制器,从而实现其状态反馈。基于此,利用MATLAB软件对倒立摆的运动进行计算机仿真,仿真结果表明,所设计的方法可使系统稳定工作并具有良好的动静态性能。     

单级旋转倒立摆的设计与实现

本文设计了一种单级旋转倒立摆,其具有自动控制摆杆摆动角度及将摆杆垂直悬挂倒立的功能,采用单片机为核心控制器设计,使用绝对值式编码器,实时检测摆杆的转动角度。控制策略采用经典控制理论PID的控制算法。最终测试结果表明,本系统可以实现任意大小角度的摆动,实现摆杆倒立稳定悬挂。     

环形单级倒立摆系统的优化跟踪控制

倒立摆系统是一个典型的、非线性、不稳定的系统,对倒立摆的控制无论是在理论上还是在有深远的意义。该论文以固高科技环形一级倒立摆试验台装置为平台,建立系统数学模型,重点是利用线性二次最优控制方法,设计出相应的LQR控制器,并对其进行参数优化,使倒立摆系统摆杆摆起并在水平位置附近以较小的角度摆动,同时使连杆在垂直向上的位置保持稳定,然后将控制过程在MATLAB软件上进行仿真,并通过实验实时控制环形倒立摆系统的稳定,实验结果验证了本文提出的控制方法的正确性和可行性。     

基于嵌入式控制器的直线倒立摆最优控制研究

倒立摆系统是典型的非线性、多变量、强耦合的系统,广泛应用于对各种控制理论和控制策略的有效性的检验。文中仅使用固高公司提供的伺服电机驱动器和倒立摆本体,另行设计了ARM控制器、信号连接电路,编写了运动控制函数库,搭建了一套基于ARM控制器和Linux系统的倒立摆控制系统,并在该实验平台使用PID,极点配置,LQR等算法完成仿真实验,并运用LQR对实际系统进行控制,实现了良好的控制效果。     

基于模糊控制的三级倒立摆系统仿真

倒立摆是理想的自动控制试验对象,应用模糊控制方法,研究了三级倒立摆系统的稳定控制问题。通过对系统的线性化模型设计LQR最优控制反馈权阵,并基于最优线性控制的反馈参数选择模糊控制参数。仿真结果表明该方法可实现三级倒立摆系统的稳定控制,具有参数选择简单、动态性能较好等特点。     

倒立摆数学模型及其模糊控制实现

本文明确控制目标,以二级倒立摆为例,在建立了倒立摆的数学模型的基础上,对其进行求解,采用模糊控制的方法,引入带自调整函数的模糊控制器,通过参数调整,达到最优的控制效果。     

基于视觉差反馈的三级倒立摆控制过程改进分析

为更有效对三级倒立摆进行稳定控制,提出了基于视觉差反馈的倒立摆控制系统。首先,通过摄像机采集倒立摆运动过程中的实时图像信息,采用Harris算法的角点匹配方法对倒立摆运动视觉图像信息进行识别匹配;然后,建立三级倒立摆系统的数学模型描述物理量和变量之间的联系,得到系统输出量后对系统进行控制,通过引入线性二次型最优控制方法,对倒立摆起摆过程及稳摆过程进行控制并达到平衡稳定的状态。实验证明,利用视觉反馈对三级倒立摆进行实时监测及控制,实现了对控制理论的智能化,为三级倒立摆控制理论的研究提供依据。     

基于PLC的平面一级倒立摆控制

正倒立摆是一种检验控制算法的实验平台,在工业中有很多应用。本文利用贝加莱PLC作为控制器实现了一个平面一级倒立摆的控制。本系统的一个优势是可以在Simulink中搭建控制算法,仿真通过后,下载到PLC中即可实现倒立摆的控制;此外,还可在PLC控制平台中直接使用C语言编写控制程序来实现倒立摆的控制。在控制算法的设计上,通过对LQR控制算法的剖析,在每一个方向将其转化为     

基于PID算法的旋转倒立摆系统设计

倒立摆系统本身是一个非线性控制系统,具有多变量、高阶次、强耦合以及严重不稳定的特点。主要任务是设计一个基于PID算法的旋转倒立摆控制系统,利用单片机运用PID算法对系统进行控制,能够使旋转倒立摆的摆杆快速达到倒立平衡状态并具有一定的抗干扰能力。     

基于倒立摆系统的模糊控制教学探讨

模糊控制理论的抽象性和实用性,对于模糊控制的教学提出了更高的要求.本文结合倒立摆这一典型的控制对象,引导学生借助matlab模糊工具箱设计模糊控制器,并通过直观的倒立摆控制实验,使学生熟悉模糊控制器的设计过程和在实际中的应用效果,达到丰富教学内容、拓展学生知识面的目的.     

融合函数在模糊控制器设计中的应用

为了解决多变量系统模糊控制器规则组合爆炸问题,提出了一种基于融合函数的多输入模糊控制器设计方法,以降低模糊控制器的输入变量维数,简化多输入模糊控制器的设计过程,有效地处理多变量问题.二级倒立摆系统控制实例证明了该方法的可行性和鲁棒性.     

Rotary inverted pendulum with magnetically external perturbations as a source of the pendulum’s base navigation commands

The main objective of this paper is to drive a rotary inverted pendulum by following a desired navigation instruction. This navigation is commanded by the user through a new electromagnetic device which is allowed to perturb the pendulum from its upright position. This apparatus consists of an electronic magnetic driving circuit to introduce commands and realized via two operated magnetic coils. So, the external programmed magnetic perturbation can be seen as external commandments. Therefore, the control problem statement is solved via a modified regulation control implementation, to maintain the pendulum on its upright position and giving free manipulation of the base of the rotary inverted pendulum. Hence, by using the corresponding H_∞-linear matrix inequality technique, a static state controller is designed and tested experimentally so supporting our findings.     

Design and implementation of a new sliding mode controller on an underactuated wheeled inverted pendulum

In this paper, a sliding mode controller (SMC) is proposed for control of a wheeled inverted pendulum (WIP) system, which consists of a pendulum and two wheels in parallel. The control objective is to use only one actuator to perform setpoint control of the wheels while balance the pendulum around the upright position, which is an unstable equilibrium. When designing the SMC for the WIP system, various uncertainties are taken into consideration, including matched uncertainties such as the joint friction, and unmatched uncertainties such as the ground friction, payload variation, or road slope. The SMC proposed is capable of handling system uncertainties and applicable to general underactuated systems with or without input coupling. For switching surface design, the selection of the switching surface coefficients is in general a sophisticated design issue because those coefficients are nonaffine in the sliding manifold. In this work, the switching surface design is transformed into a linear controller design, which is simple and systematic. By virtue of the systematic design, various linear control techniques, such as linear quadratic regulator (LQR) or linear matrix inequality (LMI), can be incorporated in the switching surface design to achieve optimality or robustness for the sliding manifold. To further improve the WIP responses, the design of reference signals is addressed. The reference position for the pendulum is adjusted according to the actual equilibrium of the pendulum, which depends on the size of the friction and slope angle of the traveling surface. A smooth reference trajectory for the setpoint of the wheel is applied to avoid abrupt jumps in the system responses, meanwhile the reaching time of the switching surface can be reduced. The effectiveness of the SMC is validated using intensive simulations and experiment testings.     

Asynchronous event-triggered observation and control of linear systems via impulsive observers

In this paper we investigate the observation and stabilization problems of a linear plant subject to network constraints and partial state knowledge, making use of the event-triggered technique. In order to address these problems, an impulsive observer is designed. Sufficient conditions are given to ensure a milder version of separation principle for linear systems controlled via an event-triggered controller. The proposed observer ensures practical state estimation, while the corresponding dynamic controller ensures practical stabilization. The sampling and the transmission of the output and the input are done asynchronously. The dynamic controller is tested in simulation on the linearized inverted pendulum.     

Design of a H∞ model reference tracking control for interconnected nonlinear systems by decentralized dynamic output-feedback

This study investigates the problem of robust tracking control for interconnected nonlinear systems affected by uncertainties and external disturbances. The designed H_∞ dynamic output-feedback model reference tracking controller is parameterized in terms of linear matrix inequalities (LMIs), which is formulated within a convex optimization problem readily implementable. The resolution of such a problem, guarantying not only the quadratic stability but also a prescribed performance level of the resulting closed-loop system, enables to calculate concurrently the robust decentralized control and observation gain matrices. The established LMI conditions are computed in a single-step resolution to obtain all the controller/observer parameters and therefore to overcome the problem of iterative algorithm based on a multi-stage resolution leading in most cases to conservative and suboptimal solutions. Numerical simulations on diverse applications ranging from a numerical academic example to coupled inverted double pendulums and a 3-strongly interconnected machine power system are provided to corroborate the merit of the proposed control scheme.     

Asynchronous non-fragile control for persistent dwell-time switched singularly perturbed systems with strict dissipativity

This paper focuses on the problem of asynchronous non-fragile dissipativity control for a class of switched singularly perturbed systems (SPSs) governed by the persistent dwell-time (PDT) switching mechanism in the discrete-time context. Unlike some previous results, the modes of system and controller in this paper are assumed to be asynchronized, which conforms better with the practical scenarios. Besides, considering the case that the controllers may be affected by uncertain factors and can not be realized accurately during system operation, the non-fragile mechanism is introduced in the process of controller design to enhance the reliability and security of the SPSs. Based on Lyapunov stability theory and stochastic analysis theory, some sufficient conditions are obtained, which can ensure the exponentially mean-square stable (EMSS) and strict dissipative performance of the closed-loop system. Furthermore, the asynchronous non-fragile slow state variables feedback (SSVF) controller gains are obtained by solving a set of linear matrix inequalities (LMIs). Finally, a numerical example and an inverted pendulum model are applied to demonstrate the superiority and the practicability of the developed control mechanism.     

Advanced controller synthesis for fuzzy parameter varying systems

A novel nonlinear time-varying model termed as the fuzzy parameter varying (FPV) system is proposed in this research, which inherits both advantages of the conventional T-S fuzzy system in dealing with nonlinear plants and strengths of the linear parameter varying (LPV) system in handling time-varying features. It is, therefore, an attractive mathematical model to efficiently approximate a nonlinear time-varying plant or to serve as a type of time-varying controller. Using the full block S-procedure, sufficient stability conditions have been derived in the form of linear matrix inequalities (LMIs) to test quadratic stability of the open-loop FPV system. Moreover, sufficient conditions have been derived on synthesizing both state feedback and dynamical output feedback fuzzy gain-scheduling controllers that can stabilize the FPV system. An inverted pendulum with a variable length pole is utilized to demonstrate advantages of the FPV system compared to the conventional T-S fuzzy system in representing a practical time-varying nonlinear plant and to validate the controller synthesis conditions.     

Continuous fixed-time convergent regulator for dynamic systems with unbounded disturbances

This paper presents a novel continuous fixed-time convergent control law for dynamic systems in the presence of unbounded disturbances. A continuous fixed-time convergent control is designed to drive all states of a multi-dimensional integrator chain at the origin for a finite pre-established (fixed) time, using a scalar input. The fixed-time convergence is established and the uniform upper bound of the settling time is computed. The designed control algorithm is applied to fixed-time stabilization of two mechatronic systems, a cart inverted pendulum and a single machine infinite bus turbo generator with main steam valve control.