基于研华数据采集卡PCI—1710—B的倒立摆控制系统研究

倒立摆控制系统是一个典型的高阶次、不稳定、多变量、非线性和强藕合控制系统。本文研究对象是基于研华公司数据采集卡PCI—1710—B 的倒立摆控制系统。通过对一级倒立摆系统控制原理分析、数学建模分析、状态反馈设计、MATLAB 仿真，然后在搭建的实验平台上用LQR 方法编程实现对其最优控制。MATLAB 仿真结果良好，软件部分采用VB 开发，实现了对系统的‘倒立’控制和相关实时参数的显示。
关键词：倒立摆 数据采集 LQR 方法 系统仿真 最优控制
Abstract: Inverted Pendulum is a control system, with the feature of high order, instability, multi-variable, non-linearity and tight coupling. Research object of the paper is inverted pendulum control system based on the PCI — 1710 — B Multifunction Card of ADVANTECH Company. We analyze its control principle and mathematical model, and make the status feedback and system simulation with MATLAB software. Based on the experiment platform system, it programs the computer to control the system making used of LQR method. The
Simulation result is effective. The software part is programmed by Visual Basic and the practical result indicates that it makes the inverted pendulum steadily stabilized at "inverted" state and concerning actual time parameters showed in program interface.
Key words: Inverted Pendulum, Data Collection, LQR Method, System Simulation, Optimal Control