| 基于LQR的直线一阶单倒立摆最优控制器的设计 |
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| 引用本文： | 张娓娓,;陈乐瑞,;赵志远. 基于LQR的直线一阶单倒立摆最优控制器的设计[J]. 自动化应用, 2014, 0(9): 32-34 |
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| 作者姓名： | 张娓娓, 陈乐瑞, 赵志远 |
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| 作者单位： | [1]河南工业职业技术学院电气工程系,河南南阳473000; [2]郑州铁路职业技术学院电气工程系,郑州450001; [3]中航工业洛阳电光设备研究所,河南洛阳471009 |
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| 摘 要： | 对已有的LQR最优控制中系统的动态响应与加权矩阵Q和R之间遵循的基本规律进行分析，并根据这一基本规律对给定的直线一阶单倒立摆采用线性二次型最优控制的方法设计控制器。仿真结果表明，基于LQR的最优控制系统对直线一阶单倒立摆具有很好的控制效果。
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| 关 键 词： | LQR 倒立摆 最优控制 Simulink |
Design of Optimal Controller of Line Single Inverted Pendulum Based on LQR |
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| Affiliation: | ZHANG Wei-wei, CHEN Lerui, ZHAO Zhi-yuan(1. Dept. of Electrical Engineering, Henan Polytechnic Institute, Nanyang 473009, China; 2. Department of Electrical Engineering, Zhengzhou Railway Vocational ＆ Technical College, Zhengzhou 450052, China; 3. Luoyang Institute of Electro-Optical Equipment, AVIC, Luoyang 471009, China) |
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| Abstract: | The existing dynamic response of the LQR optimal control system and the basic rules of the Q and R in weight- ed matrix are analyzed. The controller of the single inverted pendulum is designed based on the quadratic optimal control method according to the basic law. Simulation results show that the optimal control system based on LQR has good control ef- fect for linear first order single inverted pendulum. |
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| Keywords: | LQR inverted pendulum optimum control Simulink |
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