| 以最优控制法实现旋转式倒立摆系统的控制 |
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| 引用本文： | 贺廉云.以最优控制法实现旋转式倒立摆系统的控制[J].西安科技大学学报,2008,28(4). |
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| 作者姓名： | 贺廉云 |
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| 作者单位： | 德州学院机电工程学院,山东,德州,253015 |
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| 摘 要： | 旋转式倒立摆系统是典型的非线性、不稳定系统。文中介绍了旋转式倒立摆系统的动力学建模过程,研究了倒立摆系统的二次型最优控制器设计,并运用MATLAB程序对最优控制器进行了仿真,通过仿真实验表明这种控制方案是可行的,其效果良好。
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| 关 键 词： | 旋转倒立摆 最优控制器 MATLAB仿真 |
Control of arm-driven inverted pendulum system by using optimum controlling method |
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| HE Lian-yun.Control of arm-driven inverted pendulum system by using optimum controlling method[J].JOurnal of XI’an University of Science and Technology,2008,28(4). |
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| Authors: | HE Lian-yun |
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| Abstract: | The arm-driven inverted pendulum is a typical nonlinear and unstable system.The analytic model of the arm-driven inverted pendulum is derived in this paper.The double types optimum controller of the inverted pendulum is researched and simulation results are got by MATLAB by using optimum controller.The simulation experiments demonstrate the control programme is feasible. |
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| Keywords: | arm-driven inverted pendulum optimum controller MATLAB simulation |
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