摘要
对GIP-100-L单轴倒立摆实验系统的平衡控制问题进行了研究。建立了系统的数学模型,运用状态空间全状态反馈极点配置方法设计控制器,在MATLAB上进行仿真,在实际系统上进行了调试,实现摆杆的平衡控制。仿真及实验结果表明本文的设计方法是有效的。
The balance control of the GIP100L single inverted pendulum experiment system was focused. The mathematical model of the system is built, then a controller is designed based on the pole placement method with full state feedback, and simulation is done under the MATLAB environment. At last, the balance control of the inverted pendulum system was realized on the GIP100L experiment system. The simulation and experimental results show that the presented method is effective.
出处
《实验室研究与探索》
CAS
2003年第2期70-72,共3页
Research and Exploration In Laboratory
