| 单级倒立摆两种控制方法的研究 |
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| 引用本文： | 桑英军,范媛媛.单级倒立摆两种控制方法的研究[J].科技信息,2009(25):115-116. |
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| 作者姓名： | 桑英军 范媛媛 |
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| 作者单位： | 淮阴工学院,江苏淮安223001 |
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| 摘 要： | 本文针对多变量、非线性、强耦合性的倒立摆系统，建立了单级倒立摆的数学模型。采用PID、LQR两种不同的控制方法对单级倒立摆系统进行了实时控制效果的实验对比。从理论和实验方法上讨论了这类典型非线性自不稳定系统的控制器的设计方法及其实际控制效果的特点．指出了不同方法的优缺点。
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| 关 键 词： | 单级倒立摆 非线性 PID LQR |
Two Control Methods Study of a Single Inverted-pendulum System |
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| SANG Ying-jun,FAN Yuan-yuan.Two Control Methods Study of a Single Inverted-pendulum System[J].Science,2009(25):115-116. |
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| Authors: | SANG Ying-jun FAN Yuan-yuan |
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| Institution: | (Huaiyin Institute of Technology,Huaian Jiangsu,223001) |
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| Abstract: | The paper analyses the numerical model of single inverted pendulum in detail,according to multivariable, nonlinear and strongcoupling inverted pendulum system. The paper compares the actual real-time experiment control results of the single inverted-pendulum system with PID, LQR control methods, not.only the validity of the three methods were confirmed, but their qualities and characteristics were shown fully also. |
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| Keywords: | Single inverted pendulum Nonlinear PID LQR |
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