| 线性二次最优算法的倒立摆系统仿真与实时控制 |
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| 引用本文： | 胡凌燕,刘国平,刘小平,张华.线性二次最优算法的倒立摆系统仿真与实时控制[J].机械设计与制造,2010(1). |
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| 作者姓名： | 胡凌燕 刘国平 刘小平 张华 |
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| 作者单位： | 1. 南昌大学,机电工程学院,南昌,330031;南昌大学,信息工程学院,南昌,330031
2. 南昌大学,机电工程学院,南昌,330031 |
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| 基金项目： | 国家自然基金(60874020) |
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| 摘 要： | 文章对倒立摆进行了详细的力学分析,建立了该种倒立摆的数学模型,并为系统设计了线性二次指标最优控制器。然后,通过计算机数值仿真实验,为倒立摆控制系统选取合适的性能指标和状态反馈矩阵,仿真实验结果说明,应用该状态反馈控制,能够取得了良好的控制效果。最后,文章建立了基于matlabRTW实时工具箱的倒立摆实时控制平台。通过倒立摆的实时控制实验,验证了理论分析和数值仿真的正确性。
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| 关 键 词： | 倒立摆 仿真 实时控制 线性二次最优调节 |
The computer simulation and real-time control for the inverted pendulum system based on linear quadratic regulator |
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| HU Ling-yan,LIU Guo-ping,LIU Xiao-ping,ZHANG Hua.The computer simulation and real-time control for the inverted pendulum system based on linear quadratic regulator[J].Machinery Design & Manufacture,2010(1). |
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| Authors: | HU Ling-yan LIU Guo-ping LIU Xiao-ping ZHANG Hua |
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| Affiliation: | 1/a>;2;1 School of Mechanical and Electrical Engineering/a>;Nanchang University/a>;Nanchang 330031/a>;China;2 School of Information and Engineering/a>;China |
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| Abstract: | It established mathematical models of inverted pendulum system.According linear quadratic optimal control theory,the paper put forward an optimal controller for the system.Then the state feedback matrix is selected according the computer simulation experiments result.The simulation result showed that the inverted pendulum system with the state feedback matrix had good performance.In addition, the real-time control of the pendulum has been accomplished successfully based on the real-time control model built ... |
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| Keywords: | Inverted pendulum Simulation Real-time control Linear quadratic regulator |
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