| 单级倒立摆复合控制设计与实现 |
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| 引用本文： | 侯涛,牛宏侠,董海鹰. 单级倒立摆复合控制设计与实现[J]. 微计算机信息, 2007, 23(1) |
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| 作者姓名： | 侯涛 牛宏侠 董海鹰 |
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| 作者单位： | 1. 兰州市兰州交通大学光电技术与智能控制教育部重点实验室,730070
2. 兰州市兰州交通大学信息与电气工程学院,730070 |
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| 基金项目： | 甘肃省自然科学基金(2GS045-B52-009) |
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| 摘 要： | 本文针对LQR控制在单级倒立摆控制中的不足,设计了一个LQR结合PID的复合控制。并在Borlandc语言环境下编写控制程序,成功实现倒立摆的控制,其控制效果比单一LQR控制的抗扰能力有明显提高。
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| 关 键 词： | 倒立摆 复合控制 LQR PID |
Compound Controller Designing And Realization on a Single Inverted Pendulum |
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| HOU TAO,NIU HONGXIA,DONG HAIYING. Compound Controller Designing And Realization on a Single Inverted Pendulum[J]. Control & Automation, 2007, 23(1) |
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| Authors: | HOU TAO NIU HONGXIA DONG HAIYING |
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| Affiliation: | (Key Laboratory Opto- Electronic Technology and Intelligent Control.,Ministry of Education,Lanzhou Jiaotong University,Lanzhou,730070,China)Hou tao Niu hongxia (School of Information and Electrical Engineering,Lanzhou Jiaotong University,Lanzhou,730070,China)Dong Haiying |
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| Abstract: | To design a controller with LQR compound PID for LQR' s deficiency in single Inverted Pendulum control .And write and compile the control programs in Borland C language.The single Inverted Pendulum was controlled successfully and the result of con- trol has a great improvement than the single LQR in rejecting a sudden disturbance. |
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| Keywords: | inverted pendulum Compound control LQR PID |
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