| 单级倒立摆的两种控制方法的仿真研究 |
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| 引用本文： | 邢景虎,陈其工,江明.单级倒立摆的两种控制方法的仿真研究[J].工业仪表与自动化装置,2008(2):7-9. |
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| 作者姓名： | 邢景虎 陈其工 江明 |
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| 作者单位： | 安徽工程科技学院,电气传动与控制安徽省高校重点实验室,安徽,芜湖,241000 |
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| 摘 要： | 针对多变量、非线性、强耦合性的倒立摆系统,运用牛顿-欧拉方法建立了倒立摆的数学模型。然后对该模型分别进行LQR控制和模糊控制,并在MATLAB环境下进行仿真,其对比结果对该方向的研究具有理论指导意义。
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| 关 键 词： | 单级倒立摆 建模 LQR控制 模糊控制 |
| 文章编号： | 1000-0682(2008)02-0007-03 |
| 修稿时间： | 2007年7月3日 |
A simulation analysis of two control methods for a single inverted pendulum |
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| XING Jing-hu,CHEN Qi-gong,JIANG Ming.A simulation analysis of two control methods for a single inverted pendulum[J].Industrial Instrumentation & Automation,2008(2):7-9. |
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| Authors: | XING Jing-hu CHEN Qi-gong JIANG Ming |
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| Affiliation: | ( Anhui Provincial Key Lab of Electric Drive ＆ Control under Anhui University of Science ＆ Technology,Anhui Wuhu 241000, China) |
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| Abstract: | According to multivariable, nonhnear and strongcouphng inverted pendulum system, a mathematical model for the pendulum is set up by using the Newton-Euler method. The model has undergone the performance of both LQR and fuzzy control in the single inverted pendulm. Through simulation in MATLAB, the two control methods are compared carefully. The results have provided theoretical guidance for further studies in this respect. |
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| Keywords: | single inverted pendulum modelling LQR control fuzzy control |
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