摘要
建立了一套完整的二级倒立摆的实物系统。使用力学分析中的拉格朗日方程完成了二级倒立摆系统的数学建模。基于 LQR 方法对此二级倒立摆系统设计了一个最优控制器,并给出了一种选择加权阵 Q 和 R的经验方法。在 Simulink 环境下完成了二级倒立摆控制系统的仿真,并成功实现了二级倒立摆的长时间稳定控制。结果表明:二级倒立摆控制器的设计是成功的,它对外部干扰及建模未考虑因素都有较强鲁棒稳定性能。
This paper constituted a suit of experiment system for double inverted pendulum.Completed mathematics modeling through lagrange equation.On basis of LQR,designed a proper optimal controller for double inverted pendu- lum and put forward a experiential method of choosing Q and R.Completed the simulation for double inverted pendulum system in simulink.Achieved steady control for the double inverted pendulum practical system.'The result showed:the controller on the theory of optimal control is successful,it had the desired properties of stability robustness and disturb- ance rejection.
出处
《弹箭与制导学报》
CSCD
北大核心
2005年第SD期855-859,共5页
Journal of Projectiles,Rockets,Missiles and Guidance
