摘要
针对平面二级倒立摆系统具有的多变量、非线性、强耦合、稳定控制实时性和快速性要求高的特点,设计了利用协调因子优化控制效果的改进型LQR控制器。运用分析动力学方法对倒立摆建立数学模型,以LQR理论设计了平面倒立摆的最优控制器,在此基础上加入性能协调因子,它能根据状态变量的变化实时调整控制作用的大小,进而对LQR输出的预控制作用进行精细处理,优化控制作用,进一步改善控制效果,经系统仿真与实验室实时控制验证,其结果表明这种控制器设计简单,实时性好,并能同时保证在不同的运行条件下具有较高的控制精度,较快的响应速度,良好的稳定性和鲁棒性。
The control problem of the planar double inverted pendulum system with multi-variable, nonlinearity, strong coupling, stability control and rapid real-time requirement is discussed, the improved LQR controller is designed to optimize the control effect using the coordinated factor. The mathematical model of planar double inverted pendulum is established by means of analytical dynamics method, and the optimal controller is presented with LQR theory. The output of the LQR controller is refined through coordinator, which is the function of the states of planar pendulum. The control action exerted on the pendulum is improved. Simulation results together with pilot scale experiment in the lab show that the designed controller is simple, and can ensure the different operating conditions with high control precision, fast response, good stability and robustness.
出处
《控制工程》
CSCD
北大核心
2011年第2期258-261,共4页
Control Engineering of China
基金
国家自然科学基金项目(60850004)
河南省高等学校创新人才支持计划项目(2009HASTIT021)
关键词
平面二级倒立摆
LQR
协调因子
实时控制
planar double inverted pendulum
LQR
coordination factor
real-time control
