倒立摆实验报告安娟组(10-20打印).doc

Research on 1-Stage Inverted Pendulum Controllers By 单海科Shan Haike(09S053011) 刘晓娜Liu Xiaona(09S053026) 安娟An Juan(09S053048) Advised by Prof. Li Jiangang and Huang Ruining Harbin Institute of Technology Shenzheng Graduate School Content Content - 2 - Chapter 1 - 3 - Introduction - 3 - 1.1 Inverted pendulum classification - 3 - 1.2 main characteristics of inverted pendulum - 4 - 1.3 method of controlling the inverted pendulum - 4 - Chapter 2 - 6 - 1-stage inverted pendulum linear model - 6 - 2.1 the mathematical model - 6 - 2.2 the actual model - 8 - 2.3 the performance analysis - 9 - Chapter 3 - 10 - Swing-up Control: Energy Feedback Method - 10 - 3.1 Process analysis from swing-up - 10 - 3.2 Energy feedback method - 10 - Chapter 4 - 12 - Linear quadratic optimal control - 12 - 4.1 Linear quadratic optimal control theory - 12 - 4.2 LQR Controller for Inverted Pendulum and Simulation - 14 - 4.3 Real-time Control for the Inverted Pendulum - 20 - Chapter 5 - 21 - Fuzzy Control - 21 - 5.1 Introduction - 21 - 5.2 Fusion Function - 21 - 5.3 Fuzzy Rules - 22 - 5.4 Matlab Simulation - 23 - Chapter 6 - 27 - Conclusion - 27 - Chapter 1 Introduction As an absolute unstable controlled object, inverted pendulum is a high order, nonlinear, strong coupling, open-loop instability, constrains plant, so it is a classical system that can reflect many problems which exist in control realm. Inverted pendulums have been used for the verification of designed control systems and control education in laboratories. In particular, the control of the systems has been known as a good example to show the power of modern control theory. The problem of swing-up and balance of inverted pendulum has always fascinated the control community. Therefore, many of the abstract theoretical concepts such as control system stability, control systems and anti-jamming ability can be intuitive shown by the inverted pendulum experiment. Inverted pendulum classification There are a variety o