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从理论、仿真、实验3个角度考虑了事件触发控制对于一级直线倒立摆系统的控制效果,进而说明事件触发控制的可行性与实用性。首先,借助线性矩阵不等式给出了事件条件参数的设计方法,并对触发时间间隔下界进行了估计。其次,通过Simulink仿真说明了在无量化效应时理论结果的有效性。最后,通过实验研究了量化效应的影响,发现其对于基于模型控制器的负面作用。实验结果表明,对于实际倒立摆系统,混合型事件条件及零阶保持控制器更加适用,它们可以在保证系统稳定性的前提下有效降低信息的通信频率。上述结果体现了事件触发控制的潜在实用价值。
The effect of event-triggered control on the first-order in-line inverted pendulum system is considered from three aspects of theory, simulation and experiment, and then the feasibility and practicability of event-triggered control are illustrated. First, the design method of event condition parameters is given by means of linear matrix inequality, and the lower bound of trigger interval is estimated. Secondly, Simulink simulation shows the validity of the theoretical results in the non-quantitative effect. Finally, we study the influence of quantization effect experimentally and find its negative effect on the model-based controller. The experimental results show that the proposed system is more suitable for practical inverted pendulum system, hybrid event condition and zero-order hold controller, which can effectively reduce the communication frequency of information under the premise of ensuring system stability. The above results reflect the potential practical value of event-triggered control.