论文标题
两位线性控制器的设计和比较，具有预元增益的四倍倒摆
Design and comparison of two linear controllers with precompensation gain for the Quadruple inverted pendulum
论文作者
论文摘要
在这项工作中，我们提出了一个工作流，用于设计两种线性控制技术，该线性控制技术应用于动态系统四倍的倒置摆，安装在推车上（QIP）上，在该系统中，通过预先计算的增益消除了推车位置上的稳态误差。设计的第一个控制定律是基于LQR，该技术基于最小化系统状态的总能量来稳定系统状态，第二个控制技术是通过第二阶系统近似杆位的杆位，该方法允许定义定位时间和过度的植物响应，用于该控制系统的系统响应，用于该系统的siso，是工厂的唯一位置，即始终是cart cart cart cart cart cart cart cart cart cart cart cart cart cart cart cart cart cart cart cart of cart of cart。为了消除两个线性控制器产生的稳态误差，对在拉普拉斯域中控制的系统的固定响应进行了分析。用于验证本文介绍的结果的模拟环境是MATLAB的SIMSCAPE，它是一个模拟环境，允许模拟非线性机械系统的动态。获得的结果表明，两个控制器都能够稳定植物并将购物车位置移至所需的设定点。最后，我们讨论两种线性控制技术的性能。
In this work we present a workflow for designing two linear control techniques applied to the dynamic system quadruple inverted pendulum mounted on a cart (QIP) where the steady state error on cart position is eliminated through a precompensation gain. The first control law designed was based on LQR, technique that stabilizes the system states based on a minimization of the total energy of the system states and the second control technique was pole placement by 2nd order system approximation, this method allowed to define a settling time and overshoot of the desired response of the plant, for this control the system was considered SISO, being the only output of the plant the horizontal position of the cart. To eliminate the steady-state error generated by both linear controllers, an analysis of the stationary response of the system under control in the Laplace Domain was performed. The simulation environment used to validate the results presented in this paper was Simscape of Matlab, it is a simulation environment that allowed to simulate the dynamic of nonlinear mechanical systems. The results obtained indicate that both controllers are able to stabilize the plant and move the cart position to the desired setpoint. Finally, we discuss about the performances of both linear control techniques.
