http://www.paper.edu.cn
- 1 -
中国科技论文在线
直线电机驱动的二级倒立摆及 LQR 控制器
研究
#
赵韩,孙国强,甄圣超,周长斌,陈祥林
**
(合肥工业大学机械工程学院,合肥 230009) 5
基金项目:国家自然科学基金资助项目(51505116);中央高校基本科研业务专项资助(JZ2016HGTB0716);
中国博士后科学基金资助项目(2016M590563)
作者简介:赵韩(1957-),男,教授、博导,主要研究方向:机构学,机械传动,磁力机械,数字化设计
与制造,汽车等
通信联系人:甄圣超(1988-),男,副教授、硕导,主要研究方向:系统动力学与先进控制理论,电机驱
动控制与运动控制,车辆主动安全等. E-mail: zhenshengchao@hfut.edu.cn
摘要:倒立摆是检验控制算法的有效工具,但传统的倒立摆系统由旋转电机驱动,因传动过
程中的摩擦和间隙,使控制系统中混杂有较大的干扰信号,从而影响控制算法的验证和不同
算法间的评估。本文设计了一种新型的直线电机二级倒立摆系统,省去了传统倒立摆系统复
杂的传动机构,极大的减少了干扰信号。分析了直线电机二级倒立摆的结构并建立数学模型,10
在此基础上设计了 LQR 控制器,并用 MATLAB 进行数字仿真。然后采用自行设计的基于
TMS320F2812DSP 和 MATLAB 的快速控制原型开发系统,实现了对直线电机二级倒立摆的
实时控制。结果表明直线电机直接传动克服了传动机构产生较大干扰的特点使仿真的结果能
直接应用于二级倒立摆的实时控制。自行设计的快速控制原型开发系统是有效和高效的。
关键词:直线电机;二级倒立摆;LQR 控制器;快速控制原型;实时控制 15
中图分类号:TP273.3
Research on Double Inverted Pendulum Driven by Linear
Motor and LQR Controller
ZHAO Han, SUN Guoqiang, ZHEN Shengchao, ZHOU Changbin, CHEN Xianglin 20
(School of Mechanical Engineering, Hefei University of Technology, Hefei 230009)
Abstract: The inverted pendulum is an effective tool to test the control algorithm, but the traditional
inverted pendulum system is driven by the rotating motor. The friction and the gap in the transmission
process make the control system have mixed interference signal, which affects the verification of the
control algorithm and different algorithms Between the assessment.This paper designs a novel linear
25
motor driven double inverted pendulum system, which eliminates the complicated transmission
mechanism of traditional inverted pendulum system, and greatly reduces the interference signal. The
structure of linear motor driven double inverted pendulum is analyzed and the mathematical model is
established. On this basis, the LQR controller is designed and the digital simulation is carried out with
MATLAB. Then, the real-time control of linear motor driven double inverted pendulum is realized by
30
using the self-designed rapid control prototype development system based on TMS320F2812DSP and
MATLAB. The results show that the direct drive of the linear motor overcomes the characteristics of
the large interference caused by the transmission mechanism so that the simulation results can be
directly applied to the real-time control of the double inverted pendulum. Self-designed rapid control
prototype development system is effective and efficient.
35
Keywords: linear motor; double inverted pendulum; LQR controller; rapid control prototype; real-time
control
40
0 引言
倒立摆是支点在下,重心在上恒不稳定的系统,它的研究最早开始于 20 世纪 50 年代,
由麻省理工学院(MIT)设计出一级倒立摆系统,用于研究火箭飞行的姿态控制。倒立摆系
评论0
最新资源