一级倒立摆系统设计与LQR最优控制仿真  

Single inverted pendulum system design and LQR optimal control simulation

作　　者：刘凯[1] 

机构地区：[1]渤海船舶职业学院,辽宁葫芦岛125005

出　　处：《工业仪表与自动化装置》2012年第3期10-13,共4页Industrial Instrumentation & Automation

摘　　要：应用Lagrange力学,对一级倒立摆系统进行数学建模,得出了状态空间方程;设计了一级可控倒立摆系统,并对系统进行了性能分析;设计了直线一级倒立摆的LQR控制器,通过仿真和实验证明,LQR实时控制效果好,保证了系统具有良好的稳定性和鲁棒性。By using the Lagrange mechanics,the mathematical model of a single inverted pendulum is built and state space equation is obtained.A controlled inverted pendulum system is designed,and system performance is analysed.A linear inverted pendulum optimal controller based on LQR is designed.Simulation and experiment proved that the LQR has good real-time control effects,and ensure that the system has good stability and robustness.

关 键 词：倒立摆 数学建模 LQR 仿真 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]