基于LQR算法的板球系统轨迹跟踪研究  

Criket Trajectory Tracking System Research Based on the LQR Algorithm

作　　者：赵文龙[1] 陈能祥[1] 程若发[1] 曹博 彭洁[1] 

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

出　　处：《计算机测量与控制》2014年第1期145-148,共4页Computer Measurement &Control

摘　　要：板球系统是一个典型的多变量、非线性控制系统,是杆球系统的扩展,用以检测各种控制方案;该文首先采用拉格朗日方程法建立板球系统的数学模型,然后以线性二次最优控制理论为理论基础设计控制器并对系统进行仿真,采用基于触摸屏的控制方案,并在实物板球控制系统做了实时控制,利用多媒体定时器中断技术设计了Matlab6.5和Visual C++6.0两个版本的实时控制程序,成功实现小球的圆形和矩形轨迹跟踪,达到了误差1mm以内的控制效果;仿真及实验结果表面建立模型的合理性与控制算法的有效性。Ball＇Plate system is a typical multi--variable plant, which is the extension of the traditional ball and beam problems. It is put forward to inspect diverse control schemes. Firstly Lagrange equation established mathematical model of the Ball＇Plate system, then linear quadratic optimal control theory as the theoretical basis for designing a controller and system simulation, a scheme based Touch Screen is proposed in this paper, the real system result of position and trace control shows that this scheme has better performance, use multimedia timer interruption technology designed Matlab6.5 version and Visual C ＋ ＋ 6.0 version of the real time control programs, successful achieved the circular and rectangular trajectory tracking of the ball. its error less than lmm. Simulation and experimental results surface build decouping the rationality of the model and the effectiveness of the control algorithm.

关 键 词：板球系统 建模 线性二次最优控制 仿真 多媒体定时器 轨迹跟踪 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]