| 倒立摆的可变增益迭代学习控制算法 |
| |
| 引用本文： | 殷红,彭珍瑞. 倒立摆的可变增益迭代学习控制算法[J]. 自动化与仪器仪表, 2009, 0(3): 12-14 |
| |
| 作者姓名： | 殷红 彭珍瑞 |
| |
| 作者单位： | 兰州交通大学机电工程学院,甘肃兰州,730070 |
| |
| 摘 要： | 对倒立摆系统的平衡控制问题进行研究。在建立系统数学模型的基础上，提出指数变增益迭代学习控制律，并设计了控制器。通过系统仿真实验，结果表明：与常规迭代学习控制律相比较，本文采用的方法收敛速度大大加快，系统动态性能得到很大改善。
|
| 关 键 词： | 倒立摆 迭代学习控制 指数变增益 |
Variable gain iterative learning control for inverted pendulum |
| |
| YIN Hong,PENG Zhen-rui. Variable gain iterative learning control for inverted pendulum[J]. Automation & Instrumentation, 2009, 0(3): 12-14 |
| |
| Authors: | YIN Hong PENG Zhen-rui |
| |
| Abstract: | The balance control of inverted pendulum system is studied. Based on the mathematical model, gain coefficient variable iterative learning control is preposed, and controller is designed. The results of simulation show that its convergent rate is greatly higher than those of conventional iterative learning control. The dynamic performances of the system can be greatly improved. |
| |
| Keywords: | Inverted pendulum Iterative learning control Gain coefficient variable |
| 本文献已被 维普 万方数据 等数据库收录！ |
|
