摘要
通过对二级倒立摆结构构成及平衡控制问题的分析,给出基于牛顿力学定律的数学建模方法,并应用二次型最优控制理论实现二级倒立摆控制。根据MATLAB仿真结果表明,建模方法可行,采用二次型最优控制对系统进行控制,能满足控制系统稳定性、鲁棒性要求。
By analyzing the double inverted pendulum system, we built a mathematical model of the system which is based on Newton＇s Law of Mechanics and the linear quadratic optimal control strategy.The simulation on MATLAB show that the method of the controller is feasible,and the control system has good stability and robustness.
出处
《自动化与仪器仪表》
2008年第5期6-7,23,共3页
Automation & Instrumentation
