基于LQR算法的一阶倒立摆控制系统设计与仿真  

Design and Simulation for One-Stage Inverted Pendulum Control System based on LQR

作　　者：刘昱鑫 沈阳 曹玉波[1] LIU Yuxin;SHEN Yang;CAO Yubo(School of Information and Control Engineering,Jilin Institute of Chemical Technology,Jilin City 132022,China;Department of Electrical,Tu Yi Industrial Technology(Shanghai)Co.,Ltd.,Shanghai 201821,China)

机构地区：[1]吉林化工学院信息与控制工程学院,吉林吉林132022 [2]涂易工业技术(上海)有限公司电气部,上海201821

出　　处：《吉林化工学院学报》2023年第1期49-52,共4页Journal of Jilin Institute of Chemical Technology

摘　　要：倒立摆是一种具有多变量、非线性、强耦合的典型欠驱动系统。针对一阶倒立摆控制问题,采用牛顿-欧拉法分析和建立了倒立摆数学模型。基于线性状态反馈设计了LQR控制器,研究了LQR控制器权重系数对控制性能的影响,并基于Simscape环境搭建了系统仿真模型。实验结果表明,LQR控制稳定,反应时间快,鲁棒性强。Inverted pendulum is a typical underactuation system with multi-variable,nonlinear and strong coupling.Aiming at the control problem of first order inverted pendulum,the mathematical model of inverted pendulum was analyzed and established by Newton-Euler method.The LQR controller was designed based on linear state feedback,and the influence of the weight coefficient of the LQR controller on the control performance was studied.The simulation model was built based on Simscape environment.The experimental results showed that the LQR control is stable,the reaction time is fast,and the robustness is strong.

关 键 词：一阶倒立摆 LQR Simscape 仿真 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]