| 二级倒立摆的二次型最优控制研究 |
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| 引用本文： | 张义明,战兴群. 二级倒立摆的二次型最优控制研究[J]. 计算机测量与控制, 2004, 12(11): 1067-1069 |
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| 作者姓名： | 张义明 战兴群 |
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| 作者单位： | 上海交通大学,信息检测技术与仪器系,上海,200030;上海交通大学,信息检测技术与仪器系,上海,200030 |
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| 摘 要： | 倒立摆系统以其自身的不稳定性而难以控制，也因此成为自动控制实验中验证控制策略优劣的极好的实验装置。针对二级倒立摆系统的平衡控制问题，对其进行数学建模，应用二次型最优控制理论设计了控制器。仿真结果表明，二次型最优控制对于典型非线性自不稳定系统有着很好的控制能力。
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| 关 键 词： | 二级倒立摆 控制器 二次型最优控制 |
| 文章编号： | 1671-4598(2004)11-1067-03 |
| 修稿时间： | 2004-02-23 |
Study on Quadratic Optimal Control of a Double Inverted Pendulum |
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| Zhang Yiming,Zhan Xingqun. Study on Quadratic Optimal Control of a Double Inverted Pendulum[J]. Computer Measurement & Control, 2004, 12(11): 1067-1069 |
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| Authors: | Zhang Yiming Zhan Xingqun |
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| Abstract: | Inverted pendulum system is difficult to control because of its instability. It becomes the wonderful experiment device to verify how about the control strategy in automatic control experiment. The double inverted pendulum is modeled and the controller is designed by using quadratic optimal control theory to its equilibrium control question. The simulating results show that quadratic optimal control has the ability to control the representative nonlinear instability system. |
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| Keywords: | double inverted pendulum controller quadratic optimal control |
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