| 基于MATLAB的二级倒立摆控制系统设计方法 |
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| 引用本文： | 钱伟康 方宗达. 基于MATLAB的二级倒立摆控制系统设计方法[J]. 上海理工大学学报, 2004, 26(6): 589-592 |
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| 作者姓名： | 钱伟康 方宗达 |
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| 作者单位： | 上海理工大学,电气工程学院,上海,200093 |
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| 摘 要： | 在对二级倒立摆系统的动力学方程进行建模的基础上，将其转化为线性定常系统的状态控制问题，运用LQR控制器在MATLAB平台上实现了该系统的最优控制策略，并给出了相应的实验结果．
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| 关 键 词： | 倒立摆 动力学方程 状态控制 MATLAB |
| 文章编号： | 1007-6735(2004)06-0589-04 |
| 修稿时间： | 2004-04-05 |
Design method for double inverted pendulum control system based on MATLAB |
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| QIAN Wei-kang,FANG Zong-da. Design method for double inverted pendulum control system based on MATLAB[J]. Journal of University of Shanghai For Science and Technology, 2004, 26(6): 589-592 |
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| Authors: | QIAN Wei-kang FANG Zong-da |
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| Abstract: | Inverted pendulum system is a complicated, nonlinear, unstable system of high order. In the paper, it is discussed how to model the system of double inverted pendulums by using dynamics equation and then to transform into a control problem of linearized system. The optimized controlling policy with LQR controller is established on the MATLAB platform. The relevant experiment is also provided. |
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| Keywords: | inverted pendulum linear system theory control system MATLAB |
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