| 二级倒立摆的半物理仿真模型研究与实现 |
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| 引用本文： | 张小庆,李兴城. 二级倒立摆的半物理仿真模型研究与实现[J]. 微计算机信息, 2004, 20(10): 39-40,84 |
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| 作者姓名： | 张小庆 李兴城 |
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| 作者单位： | 100081,北京理工大学机电工程学院2002研硕士1班 |
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| 摘 要： | 本文在MATLAB环境下建立了二级倒立摆的半物理实时仿真模型，并应用线性二次型最优控制策略．设计了一个二级倒立摆LQR控制器。在实验中，运行该半实物仿真模型，成功的使倒立摆稳定地平衡在“倒立”状态。
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| 关 键 词： | 二级倒立摆 最优控制 半物理仿真模型 LQR |
| 文章编号： | 1008-0570(2004)010-0039-02 |
Study And Realization on Model of Hardware In the Loop of Double Inverted Pendulum |
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| Zhang,Xiaoqing Li,Xingcheng. Study And Realization on Model of Hardware In the Loop of Double Inverted Pendulum[J]. Control & Automation, 2004, 20(10): 39-40,84 |
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| Authors: | Zhang Xiaoqing Li Xingcheng |
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| Abstract: | This paper build a model of hardware in the loop using MATLAB. The linear quadratic optimal control strategy is adopted to design a LQR controller of double inverted pendulum. The model of hardware in the loop successfully makes the double inverted pendulum steadily stabilized at "inverted" state. |
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| Keywords: | double inverted pendulum optimal control model of hardware In the loop LQR |
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