| 基于性能协调的平面二级倒立摆控制 |
| |
| 引用本文： | 宋运忠,张蛟龙,张伟.基于性能协调的平面二级倒立摆控制[J].控制工程,2011,18(2):258-261. |
| |
| 作者姓名： | 宋运忠 张蛟龙 张伟 |
| |
| 作者单位： | 河南理工大学,电气工程与自动化学院,河南,焦作,454000 |
| |
| 基金项目： | 国家自然科学基金项目，河南省高等学校创新人才支持计划项目 |
| |
| 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...
|
| 关 键 词： | 平面二级倒立摆 LQR 协调因子 实时控制 |
Performance Coordination Based Control for Planar Double Inverted Pendulum |
| |
| SONG Yun-zhong,ZHANG Jiao-long,ZHANG Wei.Performance Coordination Based Control for Planar Double Inverted Pendulum[J].Control Engineering of China,2011,18(2):258-261. |
| |
| Authors: | SONG Yun-zhong ZHANG Jiao-long ZHANG Wei |
| |
| Affiliation: | SONG Yun-zhong,ZHANG Jiao-long,ZHANG Wei(School of Electrical Engineering & Automation,Henan Polytechnic University,Jiaozuo 454000,China) |
| |
| Abstract: | 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,wh... |
| |
| Keywords: | LQR |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
|
