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设计了一种二级倒立摆的状态反馈控制器。研究了一种基于单纯形算法的参数优化方法。首先给出了二级倒立摆系统模型并分析了系统特性,设计了状态反馈控制器,提出基于ITAE(Integrated Time&Absolute Error)性能指标应用单纯形优化方法对状态反馈控制参数进行优化设计,以快速准确地得到状态反馈阵,并利用固高GLIP2002型直线倒立摆系统进行仿真分析和二级倒立摆系统控制实验,实现了二级倒立摆优化控制。提出的一种如何寻找使系统稳定且具有较好性能的状态反馈控制参数这一控制领域重要问题的解决方法,避免了极点配置法手动试凑方法调试参数困难的问题,对非线性、强耦合运动体的控制具有理论意义和应用价值。
A two-stage inverted pendulum state feedback controller is designed. A parameter optimization method based on simplex algorithm is studied. Firstly, the system model of two-stage inverted pendulum is given and the system characteristics are analyzed. The state feedback controller is designed. Based on the ITAE (Integrated Time & Absolute Error) performance index, the simplex optimization method is used to optimize the state feedback control parameters. The state feedback matrix was obtained, and the simulation and analysis of two-stage inverted pendulum system control experiment were carried out by adopting the solid-state GLIP2002 linear inverted pendulum system, which realized the optimization control of two-stage inverted pendulum. A solution to the important problem of how to find the state feedback control parameters that make the system stable and has good performance is proposed. It avoids the difficulty of debugging the parameters of the manual trial and error method in the pole placement method, The control of moving body has theoretical significance and application value.