摘要
针对传统LQR最优控制器选取权阵的不确定性以及由此引发的响应速度慢的问题,对两轮自平衡机器人系统进行改进控制,使用传统LQR算法进行系统控制,并对存在的问题提出解决方法,选择一加权矩阵使系统稳定性得到进一步的提高,对比改进前后的LQR控制器,使用MATLAB进行仿真对比,可以得出优化后的LQR具有良好的控制效果,达到了预期效果,并具有良好的稳定性.
According to the uncertainty of the selection right array for conventional LQR optimal controller and the slow response caused by this,to improve control of the Two-Wheeled Self-Balancing Robot system,the first is to use the traditional LQR algorithm to control system,and then we put forward solving methods to the existing problem.Selecting a weighted matrix to make the system stability to be further improved,in LQR controller comparison with unimproved,verification by MATLAB simulation shows that the optimized LQR has an excellent control effect and achieves the desired effect more stably.
出处
《哈尔滨理工大学学报》
CAS
2012年第6期1-5,共5页
Journal of Harbin University of Science and Technology
基金
国家自然科学基金(50975068)
关键词
两轮自平衡机器人
LQR
加权矩阵
稳定度设计
two-wheeled self-balancing robot
LQR
weighting matrix
degree of stability
