| 单级旋转倒立摆的二次型最优控制研究 |
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| 引用本文： | 张欣.单级旋转倒立摆的二次型最优控制研究[J].电脑开发与应用,2011,24(12):28-29,32. |
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| 作者姓名： | 张欣 |
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| 作者单位： | 太原理工大学化学化工学院 太原030024 |
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| 摘 要： | 针对多变量、非线性和强耦合的单级旋转倒立摆系统,采用拉格朗日方法推导单级旋转倒立摆系统的数学模型,并在平衡点附近进行线性化处理,分析了系统的性能.分别采用线性二次型最优控制策略LQR及LQY方法对旋转倒立摆系统进行控制系统设计,并借助Matlab平台进行了仿真实验研究.实验分析表明这两种控制方案可行,且效果良好.
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| 关 键 词： | 单级旋转倒立摆 LQR LQY |
Research on Quadratic Optimal Control for the Single Rotational Inverted Pendulum |
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| Abstract: | A Single rotation Inverted pendulum system is a multi-variable,nonlinear,unstable system of high order.The mathematical model of Single rotational Inverted pendulum system is derived by using the Lagrange theory,and is linearized at the balance Point.In the mean time,the system performances are analyzed.The control system of rotation inverted pendulum is designed by means of the quadratic optimal control method LQR and LQY.The influence of control effect is seriously analyzed.The simulation is done based on Matlab.the control strategy is proved to be feasible and excellent results. |
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| Keywords: | single rotation inverted pendulum LQR LQY |
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