| 一阶倒立摆控制的仿真研究 |
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| 引用本文： | 孙培禄,曲尔光,孔素娟. 一阶倒立摆控制的仿真研究[J]. 山西大同大学学报(自然科学版), 2009, 25(4): 26-29 |
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| 作者姓名： | 孙培禄 曲尔光 孔素娟 |
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| 作者单位： | 运城学院机电工程系,山西运城,044000 |
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| 摘 要： | 对一阶倒立摆数学模型建立及其稳定性和能控性进行了分析.并使用Matlab仿真软件,对一阶倒立摆的PID控制和LQR控制方法进行了仿真对比.仿真结果说明,LQR控制方法能对多个输入量同时进行控制,控制精度很高,能更快地达到满意的效果.
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| 关 键 词： | 一阶倒立摆 PID控制 LQR控制 Matlab仿真 |
A Simulation Study of Single Inverted Pendulum Control |
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| SUN Pei-lu,QU Er-guang,KONG Su-juan. A Simulation Study of Single Inverted Pendulum Control[J]. Journal of Shanxi Datong University(Natural Science Edition), 2009, 25(4): 26-29 |
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| Authors: | SUN Pei-lu QU Er-guang KONG Su-juan |
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| Abstract: | Inverted pendulum control system is an ideal experimental platform for teaching control theory and carrying out a variety of control experiments. The mathematical model of single inverted pendulum was established and its stability and controllability were analyzed. Through simulation in Matlab, Two Control methods-PID and LQR were compared. The results show that the precision of LQR is higher than PID and can achieve the well effect faster. |
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| Keywords: | single inverted pendulum PID control LQB control matlab simulation |
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