摘要
在对二级倒立摆结构分析的基础上,基于牛顿第二定律建立倒立摆数学模型,并应用LQR状态反馈控制方法实现二级倒立摆控制.MATLAB仿真结果表明:LQR控制器能使倒立摆的摆角在竖直向上的区域内保持稳定,即使突然变化小车位移,摆角也能回复到预期的位置,具有较好的跟踪和控制效果、鲁棒性.
Based on the analysis of components of double inverted pendulum structure, mathematical moaeL of inverted pendulum is establish based on the Newton＇s second law, and controlling double inverted pendulum structure is realized by LQR state feedback control method. Simulation results of MATLAB show that modeling LQR controller makes the tilt angle of inverted pendulum maintaining stability in vertical area; even if the vehicle displacement changes abrupt the angle can return to expected location. And it has preferable track and control effect and robustness
出处
《新乡学院学报》
2013年第4期286-288,共3页
Journal of Xinxiang University
基金
河南省教育厅自然科学研究计划项目(2012B46002)
