| 柔性倒立摆远程控制实验系统 |
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| 引用本文： | 施冰,姚远,王聪,田德振,戴亚平.柔性倒立摆远程控制实验系统[J].北京理工大学学报,2010(S1):42-46. |
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| 作者姓名： | 施冰 姚远 王聪 田德振 戴亚平 |
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| 作者单位： | 云南大学理学院 数学与计算机学院,云南,大理 671003;北京理工大学 自动化学院, 北京 100081;北京理工大学 自动化学院, 北京 100081;北京理工大学 自动化学院, 北京 100081;北京理工大学 自动化学院, 北京 100081 |
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| 基金项目： | 云南省科技厅社会发展科技计划 |
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| 摘 要： | 通过对柔性连接倒立摆系统的一级摆实物远程控制研究,采用拉格朗日方程法进行系统建模,建立了一级柔性连接倒立摆系统的数学模型并进行了定性分析. 探讨了利用Matlab与Simulink实现系统的实物控制及加权矩阵 Q和R 的选取方法. 结合Matlab和C语言,实现了柔性倒立摆系统以互联网为介质的远程控制实验系统.
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| 关 键 词： | 柔性倒立摆 LQR控制 网络控制 |
| 收稿时间： | 2010/3/30 0:00:00 |
The Design and Realization of a Remote Control System of an Inverted Pendulum with Flexible Joint |
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| SHI Bing,YAOYuan,WANG Cong,TIAN De-zhen and DAI Ya-ping.The Design and Realization of a Remote Control System of an Inverted Pendulum with Flexible Joint[J].Journal of Beijing Institute of Technology(Natural Science Edition),2010(S1):42-46. |
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| Authors: | SHI Bing YAOYuan WANG Cong TIAN De-zhen and DAI Ya-ping |
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| Institution: | College of Mathematics & Computer Science, Dali University, Yunnan, Dali 671003, China;School of Automation, Beijing Institute of Technology, Beijing 100081, China;School of Automation, Beijing Institute of Technology, Beijing 100081, China;School of Automation, Beijing Institute of Technology, Beijing 100081, China;School of Automation, Beijing Institute of Technology, Beijing 100081, China |
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| Abstract: | An inverted pendulum with flexible joints is modeled and controlled using LQR algorithm. First, a mathematical model for an inverted pendulum with flexible joints is proposed. It is theoretically proved that open-loop control systems are unstable, but they are controllable on equilibrium point. Secondly, an educational experiment system is realized so that the hardware of the flexible joint inverted pendulum is controlled through Matlab and Simulink, followed by discussions on how to select the parameters of the weight matrices Q and R . Finally, a networked remote control system is also realized. It is programmed with Matlab and C language. |
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| Keywords: | flexible joint inverted pendulum LQR control networked control |
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