| 基于Riccati方程的二级倒立摆控制 |
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| 引用本文： | 郑长义,王广德,刘宏,王健.基于Riccati方程的二级倒立摆控制[J].松辽学刊,2006,27(2):107-108. |
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| 作者姓名： | 郑长义 王广德 刘宏 王健 |
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| 作者单位： | 吉林师范大学 信息技术学院,吉林 四平 136000 |
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| 摘 要： | 给一组二级倒立摆实验系统设计控制规律.真对控制目的,对该系统进行了数学建模,求出了线性化的系统状态空间,根据平衡控制特点,选定目标函数.基于Riccati方程算法,对不同控制权进行试验.通过MAT-LAB,最终求出一组合适的控制律,并给出了仿真结果.在此控制律下,改变状态空间的参数,仿真曲线几乎不变,证明系统有鲁棒性.
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| 关 键 词： | 倒立摆 算法 控制律 |
| 文章编号： | 1000-1840-(2006)02-0107-02 |
| 收稿时间： | 04 1 2006 12:00AM |
| 修稿时间： | 2006年4月1日 |
Control a Second Class Inverted Pendulum Base on Riccati Equation |
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| ZHENG Chang-yi,WANG Guang-de,LIU Hong,WANG Jian.Control a Second Class Inverted Pendulum Base on Riccati Equation[J].Songliao Journal (Natural Science Edition),2006,27(2):107-108. |
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| Authors: | ZHENG Chang-yi WANG Guang-de LIU Hong WANG Jian |
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| Institution: | College of Information and Technology,Jilin Normal University, Siping 136000, China |
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| Abstract: | In this text, author designed the control law to puts for a second class inverted pendulum experiment system. For the controls purpose,first set up the mathematics mold to that system, found a linearization state - space of the system. According to the balance control characteristics, make selection the target function. Base on the Riccati equation, make use of MATLAB for multiform control weights to carry on experiment dissimilarly, found a propriety control law, and get the simulation result. Under the control law, the parameter of the change state-space, the simulation curve almost constant, this certificate that the system is robust. |
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| Keywords: | Riccati |
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