Simulation of self-balance control system’balance

Computer Engineering and Applications ›› 2011, Vol. 47 ›› Issue (24): 245-248.

• 工程与应用 • Previous Articles

Simulation of self-balance control system’balance

YANG Xingming，YU Zhongyu

Department of Computer and Information，Hefei University of Technology，Hefei 230009，China

Received:1900-01-01 Revised:1900-01-01 Online:2011-08-21 Published:2011-08-21

自平衡控制系统的平衡性仿真

杨兴明，余忠宇

合肥工业大学计算机与信息学院，合肥 230009

Abstract

Abstract: Self-balance two-wheeled mobile inverted pendulum is a kind of natural instability systems which are strong-coupling and nonlinear with three degree of freedom.Pole placement of state feedback in the modern cybernetics plays a certain role in balance of two-wheeled mobile inverted pendulum，but the role of pole placement in the cybernetics is difficult to meet the need of realistic control，for there are a lot of disturbances in the realistic outside circumstances.To the mathematic model of two-wheeled mobile inverted pendulum，this paper gives derivations of mechanics in detail and in the environment of Simulink，simulates and analyzes balance of two-wheeled mobile inverted pendulum which is controlled by pole placement of state feedback in different gradient.

Key words: state equation, pole placement, balance, Simulink

摘要： 自平衡两轮移动式倒立摆是三个自由度的强耦合和非线性的自然不稳定系统。虽然现代控制论中的状态反馈的极点配置对两轮移动式倒立摆的平衡起到了一定的控制作用，但是在现实多干扰的外界环境中，控制论中极点配置算法的控制作用就很难满足实际控制需要。针对两轮移动式倒立摆数学模型，给出详细的力学推导并在Simulink环境下，对状态反馈的极点配置法控制的两轮移动式倒立摆处于不同的坡度平衡情况进行了仿真和分析。

关键词: 状态方程, 极点配置, 平衡, Simulink

YANG Xingming，YU Zhongyu. Simulation of self-balance control system’balance[J]. Computer Engineering and Applications, 2011, 47(24): 245-248.

杨兴明，余忠宇. 自平衡控制系统的平衡性仿真[J]. 计算机工程与应用, 2011, 47(24): 245-248.

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Simulation of self-balance control system’balance

自平衡控制系统的平衡性仿真

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