平面二级倒立摆的线性二次最优控制  

Research on Linear Quadratic Optimal Control of Planar Double Inverted Pendulum

作　　者：赵文龙[1] 陈能祥[1] 曹博 李俊[1] 

机构地区：[1]南昌航空大学信息工程学院,江西南昌330063 [2]深圳市元创兴科技有限公司,广东深圳518055

出　　处：《实验室研究与探索》2013年第11期56-59,196,共5页Research and Exploration In Laboratory

摘　　要：采用Lagrange方程建立了平面二级倒立摆的非线性动力学模型,将其在平衡位置附近进行线性化,得到系统在2个正交控制方向解耦的近似模型。根据最优控制理论设计了系统的线性二次最优调节器,并利用Visual C++6.0和Visual Basic 6.0实现了人机交互,实时控制在多媒体定时器中断服务函数内实现,自主搭建了一套平面二级倒立摆实验平台。系统成功实现稳摆控制,仿真及实验结果表明建立平面二级倒立摆解耦模型的合理性与控制算法的有效性。The nonlinear dynamical model of the planar double inverted pendulum is developed with l,agrangian equalion firstly. Then, tile linearization of the model at its equilibriunl yields a linear system which is 〈leeoupled in two orlhognnal control directions. According to the theory of optimal eontrul, a linear quadratic＇ optimal regulator is designed, aml by using Visual C ＋ ＋ 6.0 and Visual Basic 6.0 the human-cumputer interaction is realized. The real-time eonlrol in multimedia is also realized in timer interrupting service fl, netion. A planar double inverted pendulum experimenl plallrm is buih. The system successfully achieves stable pendulum control. Simulation and experimental results illuslrates the rationality of the model and the effectiveness of the control algorithm.

关 键 词：平面二级倒立摆 建模 解耦 线性二次最优控制 多媒体定时器 

分 类 号：TP206.1[自动化与计算机技术—检测技术与自动化装置]