直线电机驱动的二级倒立摆及LQR控制器研究

he inverted pendulum is an effective tool to test the control algorithm, but the traditional inverted pendulum system is driven by the rotating motor. The friction and the gap in the transmission process make the control system have mixed interference signal, which affects the verification of the control algorithm and different algorithms Between the assessment.This paper designs a novel linear motor driven double inverted pendulum system, which eliminates the complicated transmission mechanism of traditional inverted pendulum system, and greatly reduces the interference signal. The structure of linear motor driven double inverted pendulum is analyzed and the mathematical model is established. On this basis, the LQR controller is designed and the digital simulation is carried out with MATLAB. Then, the real-time control of linear motor driven double inverted pendulum is realized by using the self-designed rapid control prototype development system based on TMS320F2812DSP and MATLAB. The results show that the direct drive of the linear motor overcomes the characteristics of the large interference caused by the transmission mechanism so that the simulation results can be directly applied to the real-time control of the double inverted pendulum. Self-designed rapid control prototype development system is effective and efficient.