1、null 第 24卷第 3期 上 海 电 力 学 院 学 报 Vo.l 24, No. 3null 2008 M9Journalnull ofnull Shanghainull Universitynull ofnull Electricnull Power Sep. null 2008null nullcI|: 1006- 4729(2008)03- 0236- 03L=) PID L H enull null l : 2008- 07- 08Te: (1954- ) 3, q, .1Z_9 e/ . Emai:l yangping1201 126. com. “: Z g Sy ! “(P
2、1301).null ,= , B, ,null .( Z 1, Znull 200090)Knull1:L=) “d “d,4 PID eZ. 4PID e“d Q e“d M+,4 Q ZE PID .YV L= e L, 4PID eZr,9 L PID V X 4.1oM: ; L H e; PID e; Q ; ms |: TP13; TP271+ . 2null null nullDS M : APID Rea-l time Control forA LinearDoubleInversed Pendulum SystemYANG Ping, XU Chun-Me,i HEMao-
3、kang, YANG S-ilin, WANGQian(SchoolofElectricPower andAutomationEngineering, ShanghaiUniversityof ElectricPower, Shanghainull 200090, China )Abstract: null Forsuch a single-inpu-t three-outputunstable system, the three loopPID controlschemeisdesigned for a linear double inversed pendulum system. W it
4、h the same structure of the PIDcontrol system and the state variable feedback system, a new solution to tuning PID controlparameters by pole placement ispresented. The actualtest resultdemonstrates the feasibility ofPIDcontroland the advantage ofovercoming tuning difficulty by using the new approach
5、.Key words: null inversed pendulum; rea-ltime contro;l PID contro;l state variable feedback; poleassignmentnull null “d BdL1 “d.QaaM adL “d.m1nullL=) 9 e“d Uinull nullm1; 1 1, VYV Q lMa |,iQ z e 5;YV; 2; 3Q , VsY 12a |,iQ e 5;9 V e 5 | L H , e %(l_ Z_MaM aF),i e 5 LC e %,3M e , P,l, 12 .1. 2null“d m
6、2L=) “d.m2nullL=) “dnull nullL=) n T(1).xnullnull1nullnull2nullxnullnullnull1nullnullnull2nullnull=0null null null 0null null null null 0null null 1null 0null 00null null null 0null null null null 0null null 0null 1null 00null null null 0null null null null 0null null 0null 0null 10null null null 0n
7、ull null null null 0null null 0null 0null 00null null 86. 69null -21. 62 0null 0null 00null -40. 31null null 39. 45 0null 0null 0xnull1null2xnullnull1nullnull2null+null 0null 0null 0null 1null 6. 64-0. 088uy =xnull1null2=1null 0null 0null 0null 0null 00null 1null 0null 0null 0null 00null 0null 1null
8、 0null 0null 0xnull1null2xnullnull1nullnull2null+000u (1)T: xlM;null11 e. PID e ,5yBPIDe ? eB$ , N4 PID eZ, m3 U.m3:PosV UlM; Angle1V U1 ;Angle2V U2 .null null D1 nulls e a enull, PD e ,PD-PD-PD eZ.237null null null null null null null null null null null null null null null null nullnull ,:L=) PID
9、L H em3null PID e“d Ui3null PID m3 U PID e“dm,ri !|, n |. e“ l E(lEM ,),12 ? = . !|ri V | ,.“,V U e“d VBe.m4 PID e“d 8.m3L , L V U BPDe ,sYlMa1 a2 e.m4null e“d 8 Uinull nullm4 Vn,1 e K1,K 4,K2,K5,K3,K6 6 . ,K1lM;K4l (M );K21 ; K51 ( );K32 ;K62 .16PD 6 M BB.|m4 UPD-PD-PD eQ e“dM1 ,?C B“.yN, V Q e“dZE
10、 PID e 6 . |P= - 2null 5i- 5 null 4i - 8null 6i, MATLAB f place, V pK1= 46. 456 4null null null K 2= 75. 1740K3= - 162. 8217null null K4 = 25. 280 0K5= 0. 359 4null null null K6= - 26. 521 1 !9% VnD3, 4.YV_ k L F r.VF vSM9 V A 4. PID e“dZE V;M1 PID e“d ZE V, L kX, 4.4null L H e k ,% 3L=) e ! T L HPI
11、D e k,T | .=) V ,i O ? XE y .m5 L HY wLm.m5null L HY wLnull nullm5 V,l , EKv l0. 02m; M9l.F B |,“d (/247:)238 nullZnullnull nullnullnullnullnull null null null null null null null null null null null null null null 2008 MqE L , I 1 + !9 e“d. 5L ZE$ ?Z . ZE1 :B E, e5, 7M V e“d !9; 6B M e?5 0 bWs.3nul
12、l “ -,M e4 ? e V9r eZE, v. )?Z , Lli 5,M ew P Y.yN,A1XT9,V7 4ZEa Q,7/r E. ID: 1 null2.M eC J. ,1995, 20(6): 44-50. 2 nullzr,f; S,f.B e # J.1, 1990, 16( 3): 258-261. 3 null HAN JY, VIMENT McMurray. Two-layermultiple-variablefuzzy logic controller. IEEETransSyst, Man, Cybern, 1993,SMC-23(1): 157-169.
13、4 null GUPTAM M. Multivariable structure of fuzzy control systemsCnull IEEE Trans Syst, Man, Cybern, 1986, 16( 6): 638-656. 5 null l a,o % ,a,.M e“ds# J.9 e, 2005, 13(5): 452-454. 6 nullN,b . e J.1NV, 1992, 7(4): 54-56.( 238:)? , m6 U. F | T(2) U.m6nullF L HY wLn= 1null null 65null tnull 850null nul
14、l null (2)5nullnull (1)?PID e V e L=) .(2)L=) , PD eZ Vr.(3) 4 Q ZEPID e ZEear.ZE PID e e L=) 1o,l PID e . ID:1null ,= ,;,. PID e L H e“d J.9 , 2006, 11(9-3): 83-85.2null ,v ,1 e L LlM .:S , 2005: 113-120.3null ,= ,.LB) Q e!9 LC J. Z , 2007, 23(1): 21-25.4null= , , ,L=) Q L H e J.B8, 2008, 14( 3): 39-42.247null null null null null null null null null null null null null null null null nullfnull ,:M eZE
