反作用轮倒立摆的建模与控制器设计

In this paper, the attitude control problem of the Reaction Wheel Pendulum was studied. For the dynamic modeling problem of the reaction wheel pendulum, the dynamic model of the reaction wheel pendulum was established based on the RHONN model through the data-driven method. Then, aiming at the design problem of the reaction wheel pendulum controller, the inverse optimal control algorithm was used to design the reaction wheel pendulum controller, and the stability control near the equilibrium point of the system was realized. In this paper, a virtual prototype of reaction wheel pendulum is built in MATLAB\Simspace, and simulation experiments are carried out to verify the effectiveness of the inverse optimal controller designed in this paper. The experiment is compared with PID controller. The experimental results show that the inverse optimal controller designed in this paper has good dynamic characteristics of small overshoot and fast convergence.