本文通过拉格朗日方程推导出环形一级倒立摆系统的数学模型,用能量方法对该模型进行摆起控制;在倒立摆成功摆起后,在倒立平衡点对系统模型进行线性化,并用线性二次型最优控制(LQR)算法对倒立摆线性化模型进行稳定控制。仿真结果表明本文给出的控制方法是有效的。
关键词:环形倒立摆;摆起控制;稳定控制;线性二次型最优控制
Abstract: This paper derives the mathematical model for system of single link rotary inverted
pendulum from Lagrange Equation, and through this model the rotary inverted pendulum is
swung up by energy methods. After the success of the inverted pendulum swung up, the mathematical model is made linear on the inverted balance point and through the linear model
the inverted pendulum is kept stable on the inverted point by linear quadratic optimal control.
Simulation experiments show that the control methods are effective.
Key words: rotary inverted pendulum; swing-up control; stability control; LQR
声明:本文内容及配图由入驻作者撰写或者入驻合作网站授权转载。文章观点仅代表作者本人,不代表电子发烧友网立场。文章及其配图仅供工程师学习之用,如有内容侵权或者其他违规问题,请联系本站处理。 举报投诉
全部1条评论
快来发表一下你的评论吧 !