針對單級倒立擺系統(tǒng)的單輸入雙輸出、強(qiáng)非線性、強(qiáng)耦合的不穩(wěn)定系統(tǒng)，提出了雙回路PID 控制方案。通過仿真試驗(yàn)研究了雙回路PID 多種組合控制方案的可行性，并選出最佳方案——雙回路PD-PD 控制方案。通過在實(shí)際單級倒立擺裝置上的實(shí)時(shí)控制試驗(yàn)證實(shí)所提出的控制方案可以實(shí)現(xiàn)了對小車位置和擺桿偏角的同時(shí)閉環(huán)控制。
關(guān)鍵詞：PID 控制；倒立擺；實(shí)時(shí)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