| 二级倒立摆系统的最佳控制 |
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| 引用本文： | 阮治明.二级倒立摆系统的最佳控制[J].兵工自动化,2006,25(1):60-61,63. |
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| 作者姓名： | 阮治明 |
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| 作者单位： | 国营5308厂,江苏,扬州,225009 |
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| 摘 要： | 二级倒立摆系统的最佳控制利用最佳控制理论对其状态重构,构建最佳反馈离散控制器,并合理选择Riccati方程中的Q、R矩阵,设计离散控制降维观测器获得最佳反馈矩阵.由于不同离散时间和相应的不同矩阵其结果不完全相等,故对得到结果进行计算分析,最终选取一组较好参数作为离散时间和相关矩阵,以实现最佳控制.
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| 关 键 词： | 最佳控制 二级倒立摆 不稳定系统 二级倒立摆系统 最佳 离散控制器 Inverted Pendulum System Double Control 相关矩阵 参数 选取 计算分析 完全 结果 离散时间 反馈矩阵 降维观测器 设计 方程 Riccati 合理选择 状态重构 |
| 文章编号： | 1006-1576（2006）01-0060-02 |
| 收稿时间： | 2005-05-30 |
| 修稿时间： | 2005-05-302005-07-08 |
Optimal Control of Double Inverted Pendulum System |
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| RUAN Zhi-ming.Optimal Control of Double Inverted Pendulum System[J].Ordnance Industry Automation,2006,25(1):60-61,63. |
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| Authors: | RUAN Zhi-ming |
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| Affiliation: | The National 5308th Factory, Yangzhou 225009, China |
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| Abstract: | The optimal control of double inverted pendulum system is that State variables are reconstructed by optimal control theory, optimal feedback discrete controller is set up. The matrix Q, R of Riccati equation and discrete time are rationally selected, discrete reduced observer is designed to obtain optimal feedback control matrix. The obtained results were calculated and analyzed due to different results brought on different discrete time and different matrix, and a set of better parameter was selected to use as discrete time and correlation matrix, and then optimal control of double inverted pendulum system is realized. |
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| Keywords: | Optimal control Double inverted pendulum Unstable system |
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