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倒立摆是控制理论研究和教学中广泛使用的典型模型,文章在LabVIEW环境下,以二级直线倒立摆为被控对象,利用虚拟现实技术,开发了倒立摆LQR三维仿真控制系统;使用LabVIEW的三维图形工具箱将倒立摆的三维模型导入LabVIEW中,并利用LabVIEW控制设计和仿真模块将数学模型和三维模型联系起来;通过倒立摆系统的仿真数据驱动倒立摆的三维虚拟模型,能够形象地反映真实倒立摆的运动状态。所开发的系统操作界面友好易用,用户可以方便地修改倒立摆模型和LQR控制器的参数。
Inverted pendulum is a typical model widely used in control theory research and teaching. Under the environment of LabVIEW, the inverted linear pendulum is taken as the controlled object. The LQR three-dimensional simulation control system of inverted pendulum is developed by using virtual reality technology. The three-dimensional graphical toolbox introduces the inverted pendulum three-dimensional model into LabVIEW, and uses the LabVIEW control design and simulation module to connect the mathematical model and the three-dimensional model; the three-dimensional virtual model of the inverted pendulum can be vividly reflected through the inverted pendulum system simulation data Real inverted pendulum movement state. The developed system user interface is easy to use and user-friendly can easily modify the parameters of the inverted pendulum model and the LQR controller.