基于LQR算法的倒立摆动态可视控制系统  

Dynamic and Observed Pendulum Control System Based on LQR Algorithm

作　　者：张涛[1] 蒋静坪[2] 

机构地区：[1]华北科技学院电子信息工程系,北京101601 [2]浙江大学电气工程学院,浙江杭州310027

出　　处：《武汉理工大学学报（信息与管理工程版）》2008年第5期685-688,共4页Journal of Wuhan University of Technology：Information & Management Engineering

摘　　要：针对倒立摆系统的非线性特点,利用LQR算法实现了对倒立摆系统的小车位置和摆杆角度的同时控制。为了生动直观地演示这一控制效果,提出了使用组态软件对倒立摆系统进行动态可视化处理的实现方案。仿真计算和组态设计结果表明,该方案不仅直观地证明了LQR算法在倒立摆系统中的应用价值,而且在实际教学过程中取得了良好的教学效果。In view of the characteristics of the nonlinear of the pendulum system, the LQR algorithm was applied to control the cart position and the pendulum pole angle simultaneously. In order to show the controlling effect lively, the realization plan was proposed, which constructs the dynamic and observed pendulum control system by configuration software. The results of simulation computation and configuration design demonstrate that the plan can prove the application value of the LQR algorithm in the pendulum control system and achieve better effect in the actual teaching process.

关 键 词：最优控制 LQR算法 倒立摆系统 组态软件 

分 类 号：TM771[电气工程—电力系统及自动化]