基于约束跟随理论的动量轮倒立摆控制研究

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中图分类号：TN876-34；TH113 文献标识码：A 文章编号：1004-373X（2026）01-0108-09

DOI：10.16652/j.issn.1004-373x.2026.01.017引用格式：，，，等.基于约束跟随理论的动量轮倒立摆控制研究[J].现代电子技术，2026，49（1）：108-116.

Research oncontrol over momentumwheel inverted pendulum based on constraint-following theory

GUANZhentao1，LIUKang1，ZHANGYuanhui¹，BUYang²，FUDuo1 （1.School of MechanicalandElectrical Engineering，China JiliangUniversity，Hangzhou31oo18，China; 2.AnuiProvalinatefdiaslUsia

Abstract：Whendealingwiththecontrolissuesofunderactuatedsystems，thetraditionalcontrol methodsareoften confrontedwithchaengessuchaslowtrackingaccuracy，oorenergyeficecyndcomplexcontrollaws.Thisstudyproposes anovelcontrolstrategybasedonconstraint-follwing theoryforthemomentumwheeinvertedpendulum，atypicalunderactuated nonlinearsystem.Incomparisonwiththetraditional methods，theproposedstrategydoesnotrequirelinearizationandcanfully utilizethenonlinearcharacteristicsofthesystem，therebyenhancingcontrolperformance.Firstly，themechanical structure model ofthemomentumwhelinverted pendulumisestablishedanditsdynamicmodelisconstructedbasedontheLagrangeequation. Thedesired balanceangleoftheinverted pendulum issetasaservoconstraint，andthenananalyticalexpresionforthetorque thatsatisfiestheconstraintisderivedbasedontheconstraint-folowingtheory，soastoavoidtheintroductionofauxiliary variablessuchasLagrangemultipliers.Both thesimulationvalidationintheMatlab/Simulink/Simscapeenvironmentand the constructionofanexperimentalplatformbasedontheESP32controlcorehaveconfirmedtheefectivenessandsuperiorityof the proposedcontrolmethod.Incomparisonwiththetraditionallinearquadraticregulator（LQR）controlmethod，theproposed method demonstrates significant advantages in terms of control effectiveness.

Keywords：momentum whel invertedpendulum;underactuated system；nonlinear system； Lagrange equation；dynamics model; constraint-following

0 引言

随着科技的不断进步，自动化机器人系统在工业、医疗、家庭服务以及航天等领域的应用日益广泛。（剩余11068字）