PID控制在倒立摆实时控制系统中的应用

针对单级倒立摆系统的单输入双输出、强非线性、强耦合的不稳定系统，提出了双回路PID 控制方案。通过仿真试验研究了双回路PID 多种组合控制方案的可行性，并选出最佳方案——双回路PD-PD 控制方案。通过在实际单级倒立摆装置上的实时控制试验证实所提出的控制方案可以实现了对小车位置和摆杆偏角的同时闭环控制。
关键词：PID 控制；倒立摆；实时控制
Abstract: For such a single-input-two-output unstable system with strong nonlinearity and strong coupling, the PID control scheme with two loops is presented. The feasibility of multi-combination of the PID control with two loops is tested by simulation. In them, choose the best control scheme, PD control scheme with two loops, as the real-time control scheme, and tests it on the linear 1-stage inverted Pendulum real-time control system, The result demonstrate that this strategy can realize the position of dolly and the angle of haulm to be close-loop controlling simultaneity.
Keywords: PID control; Inverted pendulum; Real-time control