单级倒立摆控制系统的稳定性算法设计  

Stability Algorithm Design of First-order Inverted Pendulum Control System

作　　者：张白莉[1] 

机构地区：[1]忻州师范学院物理电子系,山西忻州034000

出　　处：《现代电子技术》2011年第3期120-122,共3页Modern Electronics Technique

摘　　要：为了对一级倒立摆这个非线形、强耦合、多变量和自然不稳定系统的平衡性进行有效地控制,首先利用lagrange方程对系统进行了数学建模,设计了LQR控制器对其进行稳定性控制,并利用遗传算法优化加权矩阵,得出了比较理想的控制参数,最后利用Matlab对控制结果进行了仿真和分析。实验结果表明,LQR控制方法具有较强的鲁棒性和较好的控制效果。In order to control the balance of inverted pendulum, which has nonlinear, coupled, multivariable and unstable system, the mathematic model is made through lagrange equation, and the LQR controller is designed. Furthermore, the weighting matrix is optimized by the genetic algorithm and the superior parameters are obtained. The control results are simulated and analyzed through MATLAB. The experimental results show that LQR control is more effective and robust.

关 键 词：倒立摆 LQR MATLAB 自动控制 

分 类 号：TN911-34[电子电信—通信与信息系统] TP29[电子电信—信息与通信工程]