摘要
针对多变量、非线性和强耦合的旋转二级倒立摆系统,采用分析力学理论分析旋转二级倒立摆系统的结构,建立了旋转二级倒立摆系统的数学模型状态空间方程,分析了系统的稳定性和可控性。将系统的状态空间方程在平衡点附近进行线性化处理,分别采用线性二次型最优控制策略LQR及LQY方法对旋转二级倒立摆系统进行控制系统设计,并借助Matlab平台进行了仿真实验研究。对控制结果进行了详细分析研究,对于实现其他不稳定系统的控制,有着一定的借鉴价值。
Inverted pendulum system is a complicated, nonlinear, unstable system of high order. The structure and mathematic state model of double rotation inverted pendulum is presented detaily. The control system of rotation inverted pendulum is designed by means of the quadratic optimal control method LQR and LQY. The influence of control effect is seriously analyzed. The simulation is done based on Maflab. The effects are proved by the result of experiment, and LQR has better stable and quickness. The control result can be expanded and has a guiding meaning in the control of other unstable system.
出处
《测控技术》
CSCD
2006年第11期42-44,49,共4页
Measurement & Control Technology
