## 惯性轮摆控制方法研究

Title   The research of control methods of the inertia wheel pendulum
Abstract
Inertia wheel pendulum system is a typical under-actuated system.the system is  driven by the wheel motor, swinging rod move from the equilibrium position up to the balance of the vertical position through the rotation of the wheel, and it remained stable in the position. This paper mainly studies the swing-up of the inertia wheel pendulum and stabilization problem of system control.Paper first deduces inertia wheel pendulum system dynamics model And simplifies it according to the actual situation. Then paper studies design method based on partial feedback linearization and swing-up controller design based on energy to achieve the inertia wheel pendulum swing-up movement. And on this basis method about exact feedback linearization and a stabilization controller of LQR method are studied, realizing inertia wheel pendulum under stabilization control. Finally, the paper studies the method of variable structure control. At the same time, The designed control law are verified by MATLAB. analyzing and solving problems arising from the simulation lays the foundation for subsequent experimental study.

Keywords  The inertia wheel pendulum system, The underactuated system, Swing-up control, Stabilization control

1  绪论…1
1.1  课题研究目的与意义…1
1.2  本课题国内外研究现状分析1
1.3  论文主要内容和安排…1
2  惯性轮摆动力学模型及转换…3
2.1  课题研究平台介绍3
2.2  惯性轮摆系统动力学模型…3
2.3  惯性轮摆系统动力学模型变换…4
2.4  本章小结5
3  惯性轮摆系统摆起控制器设计6
3.1  基于部分反馈线性化的摆起控制器设计…6
3.2  基于能量的摆起控制器设计7
3.3  惯性轮摆仿真摆起实验8
3.4  本章小结12
4  惯性轮摆系统镇定控制器设计13
4.1  基于精确反馈线性化的镇定控制器设计…13
4.2  基于LQR的镇定控制器设计14
4.3  惯性轮摆系统仿真镇定实验15
4.4  本章小结19
5  基于变结构方法的惯性轮摆控制器设计20
5.1  惯性轮摆滑模控制器设计…20
5.2  惯性轮摆滑模控制仿真实验22

1  绪论
1.1  课题研究目的与意义

------分隔线----------------------------