摘要
本文在已有的倾斜导轨上二级倒立摆数学模型的基础上,采用极点配置方法和线性二次型最优控制器对导轨倾斜45o时的二级倒立摆进行了控制,并用MATLAB进行了控制结果仿真,仿真结果表明,控制效果较好。
Based on the known mathematical model of double inverted pendulum on inclined rail,the double inverted pendulum on 45 degree inclined rail is controlled by pole configuration and optimal controls,and simulation is made by MATLAB.The simulation showed that the control result is quite good.
出处
《山东科学》
CAS
2003年第1期30-33,共4页
Shandong Science
