"SimulinkS-Function倒立摆仿真与实时控制研究"

"Based on the research of SimulinkS-Function inverted pendulum simulation and real-time control (new).pdf, this paper provides an overview of the background and current development of the inverted pendulum control system. The physical structure of the second-order linear inverted pendulum system is studied, and the mathematical model of the system is established using the Lagrange equation. The mathematical model is linearized at the equilibrium position to obtain the linear state space equation of the inverted pendulum system. The stability and controllability of the system are analyzed. Furthermore, the research includes pole placement and LQR control theory, and designs pole placement controller and LQR controller for the second-order inverted pendulum system. The Simulink platform of Matlab software is used to simulate the inverted pendulum model and the controller. By adjusting the parameters, the inverted pendulum is balanced. Finally, a controller S-Function is written in C language for real-time control of the inverted pendulum. In summary, the inverted pendulum is a typical control object with characteristics such as instability, high order, multivariable, and strong coupling. The research in this paper provides a comprehensive analysis of the system's physical structure, mathematical model, linear state space equation, stability, and controllability. In addition, it explores the application of pole placement and LQR control theory in designing controllers for the inverted pendulum system. The simulation and real-time control experiments demonstrate the effectiveness of the controllers in balancing the inverted pendulum. Keywords: Inverted pendulum; pole placement; LQR; S-Function"