北京航空航天大学学报 ›› 2016, Vol. 42 ›› Issue (10): 2107-2117.doi: 10.13700/j.bh.1001-5965.2015.0631

• 论文 • 上一篇    下一篇

事件触发控制在倒立摆系统中的仿真与实验

于灏, 欧阳利, 郝飞   

  1. 北京航空航天大学 自动化科学与电气工程学院, 北京 100083
  • 收稿日期:2015-09-24 出版日期:2016-10-20 发布日期:2016-10-29
  • 通讯作者: 郝飞,Tel.:010-82314517,E-mail:fhao@buaa.edu.cn E-mail:fhao@buaa.edu.cn
  • 作者简介:于灏,男,博士研究生。主要研究方向:事件触发控制,混杂系统。E-mail:yuhao1010@126.com;郝飞,男,博士,教授,博士生导师。主要研究方向:网络化控制,事件触发控制,鲁棒控制。Tel.:010-82314517,E-mail:fhao@buaa.edu.cn
  • 基金资助:
    国家自然科学基金(61573036,61174057);北京市自然科学基金(4112034);中央高校基本科研业务费专项资金

Simulation and experiment of event-triggered control for inverted pendulum system

YU Hao, OUYANG Li, HAO Fei   

  1. School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
  • Received:2015-09-24 Online:2016-10-20 Published:2016-10-29
  • Supported by:
    National Natural Science Foundation of China (61573036,61174057); Beijing Municipal Natural Science Foundation (4112034); the Fundamental Research Funds for the Central Universities

摘要: 从理论、仿真、实验3个角度考虑了事件触发控制对于一级直线倒立摆系统的控制效果,进而说明事件触发控制的可行性与实用性。首先,借助线性矩阵不等式给出了事件条件参数的设计方法,并对触发时间间隔下界进行了估计。其次,通过Simulink仿真说明了在无量化效应时理论结果的有效性。最后,通过实验研究了量化效应的影响,发现其对于基于模型控制器的负面作用。实验结果表明,对于实际倒立摆系统,混合型事件条件及零阶保持控制器更加适用,它们可以在保证系统稳定性的前提下有效降低信息的通信频率。上述结果体现了事件触发控制的潜在实用价值。

关键词: 倒立摆, 状态反馈, 事件触发控制, 基于模型网络化控制, Simulink仿真

Abstract: This paper investigates the event-triggered control for single linear inverted pendulum system from theoretical, simulation and experimental points of view to illustrate the feasibility and practicability of event-triggered control. Firstly, the parameter in event condition was designed based on linear matrix inequality, and the estimation of lower bound of inter-event times was provided. Secondly, the feasibility of theoretical results without quantization is illustrated by Simulink simulations. Finally, the influence of quantization was studied by experiments, which is quite negative on the system with model-based controller. According to the experiment results, the mixed event condition and zero-order-hold controller are more suitable for practical inverted pendulum system. They can guarantee the stability with efficient reduction of communication frequency, which reflects the potential practical value of event-triggered control.

Key words: inverted pendulum, state feedback, event-triggered control, model-based networked control, Simulink simulation

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