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单级倒立摆复合控制设计与实现
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格式:rar |
大小:167 |
2009-08-15
王敏
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本文针对LQR 控制在单级倒立摆控制中的不足，设计了一个LQR 结合PID 的复合控制。
并在Borland c 语言环境下编写控制程序，成功实现倒立摆的控制，其控制效果比单一LQR控制的抗扰能力有明显提高。
关键词：倒立摆 ；复合控制；LQR ；PID
Abstract: To design a controller with LQR compound PID for LQR’s deficiency in single
Inverted Pendulum control .And write and compile the control programs in Borland C language . The single Inverted Pendulum was controlled successfully and the result of control has a great improvement than the single LQR in rejecting a sudden disturbance.
KeyWords: inverted pendulum; Compound control; LQR;PID
并在Borland c 语言环境下编写控制程序，成功实现倒立摆的控制，其控制效果比单一LQR控制的抗扰能力有明显提高。
关键词：倒立摆 ；复合控制；LQR ；PID
Abstract: To design a controller with LQR compound PID for LQR’s deficiency in single
Inverted Pendulum control .And write and compile the control programs in Borland C language . The single Inverted Pendulum was controlled successfully and the result of control has a great improvement than the single LQR in rejecting a sudden disturbance.
KeyWords: inverted pendulum; Compound control; LQR;PID
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