中文摘要：

研究了考虑车轮与路面间滚动摩擦的车载倒立摆控制问题。首先在考虑滚动摩擦的前提下重新推导了倒立摆系统的状态空间表达式,然后在它的基础上分别采用比例微分、最优控制以及极点配置这三种方案设计了考虑滚动摩擦的车载倒立摆控制器。最后,在ADAMS-Simulink联合仿真平台上,以车载倒立摆虚拟样机为受控对象,对所设计出的三种控制器进行了验证。结果表明三种控制方案都能够对倒立摆系统进行有效的控制,这说明对于考虑滚动摩擦的倒立摆系统的数学建模是正确、合理的。

英文摘要：

The problem of controlling an inverted pendulum carried by a cart with friction between wheels and road is researched.First the state-space expressions for the inverted pendulum system,which included the rolling friction,are deduced.Then based on it,the PD method,optimal control and pole-placement method are adopted respectively to design the controllers for the inverted pendulum system involving rolling friction.Finally,on the ADAMS-Simulink co-simulation platform,the three controllers are verified taking the virtual prototype of an inverted pendulum system as control objective.The results show that the three methods are all efficient when they are used to control the inverted pendulum system,so it can be concluded that the mathematics modeling for the inverted pendulum system involving rolling friction is correct and reasonable.