Method for designing reduced-order observer of inverted pendulum

A technology of order observer and design method, applied in the field of reduced-order observer design of inverted pendulum, can solve problems such as lack of pertinence, complex calculation, and unmeasurable state quantity

Inactive Publication Date: 2017-05-17
浙江尚唯机电科技有限公司
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Problems solved by technology

However, some state quantities in the inverted pendulum control system are unmeasurable. At present, most controllers in the engineering field use state feedback, but in actual situations, some states are unknown. At this time, the observer needs to recons

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  • Method for designing reduced-order observer of inverted pendulum
  • Method for designing reduced-order observer of inverted pendulum
  • Method for designing reduced-order observer of inverted pendulum

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[0040] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be further described below in conjunction with the accompanying drawings and actual experimental data.

[0041] The invention designs a method for designing a reduced-order observer of an inverted pendulum. First obtain the differential equations of motion of the inverted pendulum control system, and after linearizing it, obtain the state space equation of the controlled object; construct a reduced-order observer in the inverted pendulum control system, use it to To observe the state quantities in the inverted pendulum that cannot be directly measured; finally, a feedback controller based on a reduced-order observer is designed to stabilize the inverted pendulum control system. This method not only realizes the observation of the unmeasurable state quantities in the inverted pendulum control system, but also makes the obs...

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Abstract

The invention relates to the technical field of inverted pendulum control, in particular to a method for designing a reduced-order observer of an inverted pendulum. The method includes the steps that a movement differential equation set of an inverted pendulum control system is obtained and subjected to linear processing to obtain a state space equation of a controlled object; the reduced-order observer is constructed in the inverted pendulum control system and used for observing a state quantity which cannot be directly measured in the inverted pendulum; a feedback controller based on the reduced-order observer is designed, so that the inverted pendulum control system is stable. The method is capable of observing unmeasured state quantities in the inverted pendulum control system, so the observer is more targeted, the computation amount and design complexity are further reduced, and the concept of an observer design method is widened.

Description

technical field [0001] The invention relates to the technical field of inverted pendulum control, in particular to a design method for a reduced-order observer of an inverted pendulum. Background technique [0002] At present, the inverted pendulum is an absolutely unstable, high-order, multi-variable, and strongly coupled nonlinear system. Since the inverted pendulum was proposed, various control methods have been applied to the inverted pendulum, and good control effects have been achieved. . In engineering applications, the research of inverted pendulum is of great practical value. For example, problems such as robot walking, attitude adjustment during rocket launch, and stability control of offshore drilling platforms are very similar to inverted pendulum, so inverted pendulum The study of control methods has a great guiding effect on industries such as military industry, aerospace and robotics. [0003] The observer is very important in the design of the controller of...

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/04
Inventor 李跃
Owner 浙江尚唯机电科技有限公司
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