基于LQR控制器的直线倒立摆研究及设计  

Study and Design of Linear Inverted Pendulum Based on LQR Controller

作　　者：王洪亮[1] 周洁 罗灵琳[1] WANG Hongliang;ZHOU Jie;LUO Linglin(Kunming University of Science and Technology,Kunming 650224,China)

机构地区：[1]昆明理工大学电力工程学院,云南昆明650224

出　　处：《机械与电子》2018年第4期3-6,共4页Machinery & Electronics

基　　金：云南省教育厅资助性项目(KKJB201604004);云南省级项目(人培)(KKSY201504055);昆明理工大学分析测试基金(2017T20150022)

摘　　要：针对直线倒立摆系统不稳定的问题,在前期研究的基础上,建立了直线一级倒立摆数学模型,并对自行研制的直线一级倒立摆进行参数分析,推导出了状态空间方程,给出了Pro/E模型图。接着,为确保系统能更加稳定地控制,研究设计了相应的LQR控制器,绘制了控制系统结构框图,最后进行了LQR控制参数仿真。仿真结果证明了研究设计的有效性和可行性。A mathematical model of linear inverted pendulum was established based on the previous researches.In addition,the parameters of the proposed device were analyzed,and the state space equation was deduced,based on which,the Pro/E model diagram was put forward.Then,in order to ensure a more stable control of the system,the corresponding LQR controller was designed and the block diagram of the control system was drawn.Finally,the LQR control parameters were simulated.The simulation results prove the effectiveness and feasibility of the designed system.

关 键 词：直线倒立摆 PRO/E LQR控制器 仿真 

分 类 号：TP393[自动化与计算机技术—计算机应用技术]