摘要
分析了平面二级倒立摆的动力学和运动学特征,利用拉格朗日方程建立了系统数学模型。在此基础上,设计了线性二次型LQR控制器和模糊控制器,利用MATLAB/Simulink软件工具对两种控制器进行了验证和比较,由可视化仿真验证了这两种控制器优缺点。
After kinematic and dynamical analysis of planar double inverted pendulum,a dynamical model is developed by using Langrange equations.A LQR controller and a fuzzy controller are analyzed and designed in this paper.Both of two controllers are tested and compared by MATLAB / Simulink.Visual simulation proves that the advantages and disadvantages of the two control methods.
出处
《工业控制计算机》
2016年第11期68-70,共3页
Industrial Control Computer
关键词
倒立摆
模糊控制
LQR
控制系统
仿真
inverted pendulum
fuzzy control
LQR
control system
simulation
