Swinging up the Furuta Pendulum and its Stabilization Via Model Predictive Control
Swinging up the Furuta Pendulum and its Stabilization Via Model Predictive Control
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古田摆的摆动及其通过模型预测控制的稳定
DOI：
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发表时间：
2013
期刊：
影响因子：
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通讯作者：
M. Salaj
中科院分区：
文献类型：
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作者：
Pavol Seman;B. Rohal’;Martin Juh´as;M. Salaj
本文讨论了控制倒立旋转摆（也称为古田摆）的某些选项。控制倒立摆涉及两个阶段。第一阶段是摆锤的向上摆动，第二阶段是摆锤在直立位置的平衡。该论文描述了钟摆摆动的两种可能性。第一种是基于将系统当前总（势能和动能）能量与其稳定直立位置的能量进行比较的经典方法。第二种选择在摆位置上使用幂运算，因为幂律函数的趋势对于确定输送到系统所需的能量非常方便。为了平衡摆在直立位置，提出了一种基于扰动最优控制律的预测控制器，它是一种在超出约束时进行控制信号校正的 LQ 控制器。结果通过实验室旋转倒立摆装置的实时实验来说明。
This paper deals with certain options on controlling an inverted rotary pendulum also known as the Furuta pendulum. Controlling an inverted pendulum involves two stages. The first stage is the swing up of the pendulum and the second stage is its balancing in the up-right position. The paper describes two possibilities on swinging up the pendulum. First one is the classical approach based on comparing the current total (potential and kinetic) energy of the system with the energy in its stabilized up-right position. The second option uses an exponentiation operation over the pendulum position since the trend of power law function is very convenient for determining the amount of required energy to be delivered to the system. For the purposes of balancing the pendulum in the up-right position a predictive controller based on optimal control law with perturbation was proposed, which is an LQ controller with control signal corrections when constraints are exceeded. The results are illustrated by real-time experiments on a laboratory rotary inverted pendulum setup.