CAJ | 학술논문

针对单级倒立摆的稳定性问题，建立了单级倒立摆系统的四阶非线性数学模型，运用多指标非线性控制方法，设计了一个多指标的非线性控制器，并借助于系统特征根配置的方法，整定了该控制器中的c、k参数，实现了小车的水平位置和摆杆角度的稳定控制。最后，同时对线性最优二次型调节器和多指标非线性控制进行仿真对比，仿真表明：与线性最优二次型调节器相比，多指标非线性控制方法在控制效果上更为令人满意。
침대단급도립파적은정성문제，건립료단급도립파계통적사계비선성수학모형，운용다지표비선성공제방법，설계료일개다지표적비선성공제기，병차조우계통특정근배치적방법，정정료해공제기중적c、k삼수，실현료소차적수평위치화파간각도적은정공제。최후，동시대선성최우이차형조절기화다지표비선성공제진행방진대비，방진표명：여선성최우이차형조절기상비，다지표비선성공제방법재공제효과상경위령인만의。
Aiming at the stability problem of a single inverted pendulum, a fourth-order nonlinear mathematical model of it was built in this paper. Using the multi-index nonlinear control method, a multi-index nonlinear controller was designed, and the parameters c, k were adjusted with the aid of characteristic root configuration of system, so as to realize the stability control of horizontal position of the cart and angle of the pendulum. At last, the linear optimum quadratic regulator and multi-index nonlinear controller were simulated and compared. The simulation results show that compared with the linear optimum quadratic regulator, the multi-index nonlinear control scheme is more satisfying in control effect.