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基于LQR的平面二级倒立摆控制策略研究
引用本文:张蛟龙,宋运忠.基于LQR的平面二级倒立摆控制策略研究[J].自动化技术与应用,2009,28(12):1-4,134.
作者姓名:张蛟龙  宋运忠
作者单位:河南理工大学电气工程与自动化学院复杂网络研究室,河南,焦作,454000
摘    要:本文对平面二级倒立摆运用分析动力学方法建立其数学模型,以LQR理论设计了平面倒立摆的最优控制器,在此基础上运用变量融合技术设计了参数自调整双模糊控制器,从而降低模糊控制器的输入变量维数,大大减少模糊控制的规则数,并研究了量化因子对控制效果的影响.应用所设计两种控制器进行系统仿真与实时控制实验,其结果证明两种控制器都能保证良好的控制精度,响应速度快,有良好的稳定性和鲁棒性。

关 键 词:平面二级倒立摆  LQR  模糊控制  量化因子

LQR Based Planar Double Inverted Pendulum Control
ZHANG Jiao-long,SONG Yun-zhong.LQR Based Planar Double Inverted Pendulum Control[J].Techniques of Automation and Applications,2009,28(12):1-4,134.
Authors:ZHANG Jiao-long  SONG Yun-zhong
Affiliation:( Complex Networks Lab, School of Electrical Engineering & Automation, Henan Polytechnic University, Jiaozuo 454000 China )
Abstract:The mathematical model of planar double inverted pendulum is founded at first by means of analytical dynamics.Then,LQR theory is employed to realize optimal control,and further fusion of correlated varieties is added to simplify as well as humanize the controller in virtue of fuzzy technology.The infection of the quantification factors to the effect of control is studied.Finally,results of numerical simulation together with pilot scale test are given to verify the efficiecy of the suggested strategy.
Keywords:LQR
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