| 基于LQG的弹性倒立摆动态稳定性控制 |
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| 引用本文： | 林红,冯志华.基于LQG的弹性倒立摆动态稳定性控制[J].系统工程与电子技术,2003,25(12):1511-1512. |
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| 作者姓名： | 林红 冯志华 |
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| 作者单位： | 苏州大学,江苏,苏州,215021 |
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| 基金项目： | 江苏省回国人员基金(M1117018) |
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| 摘 要： | 机械系统的轻量化,将使其材料弹性刚度减弱,从而导致系统振动加剧。为了实现对具有弹性的不稳定机械系统的控制,对弹性倒立摆的动态稳定性控制进行了研究。通过动力学分析,建立了车型弹性倒立摆系统的动力学控制模型,并对系统进行了线性化和可控、可观性分析。利用线性二次高斯(linear quadratic Gaussian,LQG)控制方法对其进行动态稳定性控制。相应的仿真研究和实时控制结果证明,该系统具有良好的控制效果和鲁棒稳定性。
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| 关 键 词： | 倒立摆 弹性 控制器 机械系统 |
| 文章编号： | 1001-506(2003)12-1511-02 |
| 修稿时间： | 2002年12月8日 |
Dynamic stability control of an inverted flexible pendulum based on LQG |
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| LIN Hong,FENG Zhi-hua.Dynamic stability control of an inverted flexible pendulum based on LQG[J].System Engineering and Electronics,2003,25(12):1511-1512. |
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| Authors: | LIN Hong FENG Zhi-hua |
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| Abstract: | The lighting of mechanical systems weaken the material elastic rigidity and intensity the system vibration. For realizing the control of elastic unstable mechanical system, the dynamic stability control of an inverted flexible pendulum has been studied. Its dynamic control mode of vehicle tyre is derived by dynamics analysis, and the linearization, controllability and observability of the system are analyzed. A linear quadratic Gaussian(LQG) controller is used to dynamically stabilize the system. The corresponding simulatioin study and the real-time control results show that the LQG controller is of good adaptability and strong robustness. |
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| Keywords: | inverted pendulum flexibility controller machinery system |
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