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首页> 外文会议>2017 15th International Conference on Quality in Research : International Symposium on Electrical and Computer Engineering >Stabilising a cart inverted pendulum system using pole placement control method
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Stabilising a cart inverted pendulum system using pole placement control method

机译：使用杆位控制方法稳定手推车倒立摆系统

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A cart inverted pendulum system is one of the most common case to be considered for testing many control algorithms, since it has some challenging problems associated with non linearity, complexity and underactuated system model. In fact, non-linearity behaviour of the inverted pendulum can be observed easily. Different pendulum angle response can be obtained by giving the same velocity in the cart. The cart inverted pendulum can be understood as an under actuated system since the system has a lower number of actuator than the degrees of freedom. One of the most convenient method to model the inverted pendulum system is to use Lagrange's equation. However, at present, many presented inverted pendulum models have been derived using simplified physical model. This simplified model may lead to problems for the implementation of the control algorithm in a real physical inverted pendulum system. In this paper, an inverted pendulum system model is presented, where a mechanical transmission system and a motor models have been included in the derivation of the inverted pendulum model. Hence, the problems for the control implementation in a real system can be minimized. The mathematical model of the inverted pendulum was derived using Lagrange's equation. The determination of the pole zero of the system is discussed. A simple method of pole placement is proposed to stabilise the pendulum at the desired position of the cart. Matlab simulation results show the effectiveness of the proposed method. And yet, this intuitive approach can lead to better understanding of the control behaviours.
机译：手推车倒立摆系统是测试许多控制算法时考虑的最常见情况之一，因为它存在一些与非线性，复杂性和驱动不足的系统模型相关的挑战性问题。实际上，可以容易地观察到倒立摆的非线性行为。通过在推车中提供相同的速度，可以获得不同的摆角响应。手推车倒立摆可以理解为欠驱动系统，因为该系统的致动器数量少于自由度。建模倒立摆系统最方便的方法之一是使用拉格朗日方程。但是，目前，已经使用简化的物理模型导出了许多现有的倒立摆模型。这种简化的模型可能会导致在实际的物理倒立摆系统中实现控制算法的问题。本文提出了一种倒立摆系统模型，其中在倒立摆模型的推导中包括了机械传动系统和电机模型。因此，可以最小化实际系统中的控制实现的问题。倒立摆的数学模型是使用拉格朗日方程推导出来的。讨论了系统零极点的确定。提出了一种简单的杆放置方法，以将摆锤稳定在推车的所需位置。 Matlab仿真结果表明了该方法的有效性。但是，这种直观的方法可以更好地理解控制行为。

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