| 单级倒立摆LQR控制方法的鲁棒稳定性分析 |
| |
| 引用本文： | 刘微微,张静. 单级倒立摆LQR控制方法的鲁棒稳定性分析[J]. 黑龙江水专学报, 2010, 37(2): 105-108 |
| |
| 作者姓名： | 刘微微 张静 |
| |
| 作者单位： | 哈尔滨理工大学,自动化学院,哈尔滨,150080 |
| |
| 基金项目： | 黑龙江省自然科学基金 |
| |
| 摘 要： | 鲁棒稳定性是控制系统的一个重要指标,针对单级倒立摆系统,采用LQR最优控制方法,通过MATLAB实验环境下的仿真,得到了良好的控制效果。重点对该控制方法的鲁棒稳定性做了详细分析,通过增加系统自身的扰动及LQR控制器中加权阵R的改变考察该控制方法的鲁棒稳定性,对比仿真结果表明该控制方法鲁棒稳定性良好,进一步验证了LQR控制方法在对于倒立摆这样一个非线性极强的控制系统上所具有的控制优势。
|
| 关 键 词： | 鲁棒稳定性 倒立摆 LQR 最优控制 |
Robust Stability Analysis of Single-stage Inverted Pendulum LQR Control Method |
| |
| LIU Wei-wei,ZHANG Jing. Robust Stability Analysis of Single-stage Inverted Pendulum LQR Control Method[J]. Journal of Heilongjiang Hydraulic Engineering College, 2010, 37(2): 105-108 |
| |
| Authors: | LIU Wei-wei ZHANG Jing |
| |
| Affiliation: | (College of Automatic,Harbin University of Science and Technology,Harbin 150080,China) |
| |
| Abstract: | Robust stability is an important indicator of control systems.In this paper,single-stage inverted pendulum system,LQR control method used by MATLAB simulation under an experimental environment,have a good control effect.Focus on the robust stability of the control method has done a detailed analysis.Disturbance by increasing the system itself and the LQR controller,to change the weighting matrix R,to study the control method of robust stability,comparing simulation results to be a good robust stability of the control method.Further verify the advantages of the control method for the inverted pendulum in such highly non-linear control systems with control on the edge. |
| |
| Keywords: | LQR |
| 本文献已被 维普 万方数据 等数据库收录！ |
|
