摘要
运用Lagrange方法建立了小车-倒摆控制系统的数学模型,并推导出该模型的状态空间表达式,分析了系统的稳定性、能控性和能观性,建立了基于LQR的小车-倒摆闭环控制系统,利用Matlab仿真实验讨论了加权矩阵Q和R对最优控制的影响,实现了对系统的最优控制。
Establish the model of a car inverted pendulum and deduce an expression state - space, we also analyze its stability, controllability and observability, built a losed - loop control system of car- inverted pendulum based on LQR, discuss the influence on optimal control system caused by the change of parameters Q and R by the Matlab- simulated experiments, last, achieve optimal control for the system.
出处
《煤矿机械》
北大核心
2008年第11期124-126,共3页
Coal Mine Machinery
关键词
状态空间
小车-倒摆
LQR
最优控制
仿真
state - space
car - inverted pendulum
LQR
optimal control
simulation
