基于自激原理的负载倒立摆的摆起与稳摆
Swing-Up and Stability Control Method of Loaded Inverted Pendulum Based on Self-Excitation Principle

本文提出了基于自激原理的倒立摆摆起方法，推导出了自激摆起的幅值条件和相位条件，对能量摆起法进行了一定程度上的优化。将此方法应用于负载倒立摆系统，获得了很好的摆起效果。同时本次研究中还使用了线性二次型最优控制算法(LQR法)、Q学习法实现负载倒立摆的稳摆控制。通过仿真与实物实验，证实该方案在负载倒立摆控制中具有稳定，高效，硬件负担小，可重复性强的优点，为大负载倒立摆的摆起与实际应用打下了良好的基础。
This paper proposed a swing-up method of inverted pendulum which was based on self-excitation principle, and deduced the amplitude and phase conditions. This method could improve the effect of energy swing-up method, and performed well in loaded inverted pendulum system. This paper also used the linear quadratic optimal control algorithm (LQR method) and Q-learning for stability control. According to the result of simulation and experiment, it showed that the scheme has fol-lowing advantages: good stability, high efficiency, small hardware burden and strong repeatability. The method lays a good foundation for the practical application in swing-up controlling of the heavy-loaded inverted pendulum system.