雙平行倒立單擺系統之控制

Abstract

本論文探討一特殊形式的倒立單擺系統－雙平行倒立單擺系統之控制， 文中對此系統的各平衡點之可控制性、穩定性作一完整的理論分析。對此 系統控制目的為：「兩單擺皆垂直朝上，滑車追隨預設的定位點」，本文 企圖設計順滑模態控制器及線性狀態回授控制器來達成此控制目的，整個 設計過程及模擬結果在文中有完整的描述，並藉由模擬結果來討論閉迴路 系統的特性。在實作方面，採32位元的個人電腦作為數位控制的中心處理 單元，對於數位化後系統的穩定性亦做了一番討論，藉由此系統的控制實 驗印證順滑模態理論、線性最優調節理論的可行性。 This thesis is concerned with the analysis and control of a specific type of pendulum-cart mechanical system: parallel-type double inverted pendulum system. Detailed analysis of controllability and stability is presented. The control goal of the system is " both pendulums are stabilized at the upright position and the cart follows the reference position". The sliding mode controller (SMC) and the linear state feedback controller (LSFC) are developed to obtain the desired performance. The design process and simulation results are included and analyzed. The experimental system is constructed and its control system is implemented by a 32-bit personal computer. The feasibility of the discretized system with SMC or LSFC are also demonstrated.