Influence Analysis of Initial State Parameters on Linear Inverted Pendulum System Performance
As the classical research object in control field, inverted pendulum can effectively reflect many key issues of the system, such as robustness, traceability, servo characteristic, convergence speed of the system and stabilization. This paper takes Gugao Tianlong I double inverted pendulum as the simulation object on MATLAB. Lagrange equation is established and an optimal controller design scheme based on LQR is proposed. The control scheme is testified on Gugao Tianlong I Inverted pendulum based TMS320LF2407 controller. It shows that the stability of inverted pendulum is sensitive to initial state parameters, and when the angle is larger, the power of control is larger and it is more difficult to control. These results provide theory basis and methods for control of inverted pendulum systems.
Double Inverted Pendulum Initial State Parameters MATLAB Simulation
Jiang Jie Tang Wei
Inner Mongolia University of Science and Technology, School of Information Engineering, Baotou 014010
国际会议
The 24th Chinese Control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)
太原
英文
3515-3518
2012-05-23（万方平台首次上网日期，不代表论文的发表时间）