Design and Implementation of Rotary Inverted Pendulum Motion Control Hardware-In-The-Loop Simulation Platform

被引：2

作者：

Pan, Feng ^{[1
]}

Xue, Dingyu ^{[1
]}

Chen, Dali ^{[1
]}

Cui, Jianjiang ^{[1
]}

机构：

[1] Northeastern Univ, Sch Informat Sci & Engn, Shenyang 110004, Peoples R China

来源：

2010 CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-5 | 2010年

关键词：

Inverted Pendulum; Hardware-In-The-Loop Simulation; MATLAB/Simulink; Optimal Control;

D O I：

10.1109/CCDC.2010.5498818

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Based on MATLAB/Simulink control system design and testing environment, the rotary inverted pendulum motion control hardware-in-the-loop simulation platform is designed and implemented by applying hardware-in-the-loop simulation technology. The system mathematical models of single and double inverted pendulums are obtained. The optimal control method is adopted to design the controller and the inverted pendulum is studied in the simulation system loop. We can observe the system dynamic performance in online by building up virtual instruments and verify the effectiveness of the control strategy. The results show that this system is the ideal platform to research and apply control theory.

引用

页码：2328 / 2333

页数：6