摘要
从理论和实践上对线性一级倒立摆作了深入的研究。首先,用拉格朗日方法建立了倒立摆的数学模型。在此基础上采用线性二次型最优控制方法设计了倒立摆的控制器。最后,通过试验验证了设计结果并给出了控制器的性能评价。
This paper makes a deep study of linear inverted pendulum. First, the pendulum＇ s mathematical model is set up in Lagrange method. Then, pendulum regulator was designed in linear quadratic optimal control. Last, the design is tested in experiment, and it＇s performance was evaluated.
出处
《机械制造与自动化》
2006年第6期95-98,共4页
Machine Building & Automation
关键词
倒立摆
建模
LQR控制器
inverted pendulum
mathematical model
LQR regulator
