摘要
应用调节器及观测器理论,使用 TK—80工业控制机、8位 A/D.10位D/A,成功地实现二级倒立摆的稳定控制.用连续系统二次型性能指标法、降维观测器及线性函数观测器,设计了数字控制器取得满意的效果.并对 TK—80工业控制机的软硬件做了适当的修改,给出用汇编语言编写的软件管理框图和控制算法的主程序框图.介绍了二级倒立摆控制系统的计算机辅助分析与设计,这一工作是基于 LCSADP 软件包上完成的,并给出了实验结果.
This paper sumarizes the development status of the double inverted pen- dulum.Using the continuous system linear-quadratic state-feedback method,the minimal order state observer method and linear functional observer method,we designed the digital controller.Using an industrial controller TK-80 with 8bit A/D and 10 bit D/A converter,we successfully stabilized the double inverted pendulum in the upright position.We discuss the computer aided analysis and design which are based on the software package LCSADP.
关键词
倒立摆
控制器
观测器
稳定控制
double
inverted pendulum
observer
industrial controller
