| 基于最优控制LQR的单级倒立摆系统仿真研究 |
| |
| 引用本文： | 么洪飞,陆仲达,徐凤霞. 基于最优控制LQR的单级倒立摆系统仿真研究[J]. 齐齐哈尔轻工业学院学报, 2011, 0(4): 34-37 |
| |
| 作者姓名： | 么洪飞 陆仲达 徐凤霞 |
| |
| 作者单位： | 齐齐哈尔大学计算机与控制工程学院,黑龙江齐齐哈尔161006 |
| |
| 基金项目： | 黑龙江省教育厅科学技术研究项目（12511604） |
| |
| 摘 要： | 单级倒立摆控制是一个即复杂而又对准确性、怏速性要求很高的非线性不稳定系统控制问题。在倒立摆系统数学模型的基础上，对系统进行了性能分析。应用现代控制理论最优控制LQR方法对单级倒立摆系统进行仿真控制研究，仿真结果说明反馈控制理论对倒立摆系统的控制是有效的，无沦是系统的输出还是各个状态变量都具有较好稳定性和一定的鲁棒性。
|
| 关 键 词： | 单级倒立摆 LQR 系统建模与仿真 |
Simulation study for a single inverted pendulum system based on optimal control LQR |
| |
| YAO Hong-fei,LU Zhong-da,XU Feng-xia. Simulation study for a single inverted pendulum system based on optimal control LQR[J]. , 2011, 0(4): 34-37 |
| |
| Authors: | YAO Hong-fei LU Zhong-da XU Feng-xia |
| |
| Affiliation: | ( College of Computer and Control Engineering, Qiqihar University, Heilongjiang Qiqihar 161006, China ) |
| |
| Abstract: | The single inverted pendulum control system is an inherent instable nonlinear and complex dynamic system which needs high accuracy and speed. On the basis of the model of the single inverted pendulum, this paper analyzes the capability of the system. Basing on modem control theories, the LQR control methods of inverted pendulum system is discussed. Feedback control theory is useful for s ingle inverted pendulum control system according to the simulation, regardless of the system output or every state variable, in the function of the digital optimal controller. |
| |
| Keywords: | single inverted pendulum LQR system modeling and simulation |
| 本文献已被 维普 等数据库收录！ |
