Method for designing reduced-order observer of inverted pendulum

Abstract

The invention relates to the technical field of inverted pendulum control, in particular to a method for designing a reduced-order observer of an inverted pendulum. The method includes the steps that a movement differential equation set of an inverted pendulum control system is obtained and subjected to linear processing to obtain a state space equation of a controlled object; the reduced-order observer is constructed in the inverted pendulum control system and used for observing a state quantity which cannot be directly measured in the inverted pendulum; a feedback controller based on the reduced-order observer is designed, so that the inverted pendulum control system is stable. The method is capable of observing unmeasured state quantities in the inverted pendulum control system, so the observer is more targeted, the computation amount and design complexity are further reduced, and the concept of an observer design method is widened.

Description

technical field [0001] The invention relates to the technical field of inverted pendulum control, in particular to a design method for a reduced-order observer of an inverted pendulum. Background technique [0002] At present, the inverted pendulum is an absolutely unstable, high-order, multi-variable, and strongly coupled nonlinear system. Since the inverted pendulum was proposed, various control methods have been applied to the inverted pendulum, and good control effects have been achieved. . In engineering applications, the research of inverted pendulum is of great practical value. For example, problems such as robot walking, attitude adjustment during rocket launch, and stability control of offshore drilling platforms are very similar to inverted pendulum, so inverted pendulum The study of control methods has a great guiding effect on industries such as military industry, aerospace and robotics. [0003] The observer is very important in the design of the controller of...

AI Technical Summary

Problems solved by technology

However, some state quantities in the inverted pendulum control system are unmeasurable. At present, most controllers in the engineering field use state feedback, but in actual situations, some states are unknown. At this time, the observer needs to reconstruct the system.

Although this kind of method solves the problem of obtaining unmeasurable state quantities in the control system, it has defects in the control of the inverted pendulum system due to the extremely complex and untargeted calculation amount.

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