摘要
针对一级倒立摆不稳定的特性,为其建立了数学模型,并采用双PID控制策略对其进行控制.通过线性二次型最优控制(LQR)理论计算出反馈矩阵K,将K中的参数作为PID控制器的参数.计算机仿真实验结果表明,此方法可以简化PID控制器参数的选取过程,并对直线一级倒立摆系统取得了良好的控制效果.
A mathematical model was established and a double PID control strategy was adopted for a linear single inversed pendulum system for solving its instability.The feed back matrix K was calculated using the LQR theory,and the elements in K were set up to the double PID controller as the parameter.The simulation results present that this method can simplify the choosing of the parameter for the PID controller and give a good control effect to the linear single inversed pendulum system.
出处
《佳木斯大学学报（自然科学版）》
CAS
2010年第6期821-826,848,共7页
Journal of Jiamusi University：Natural Science Edition
