| 基于最优控制的倒立摆系统 |
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| 引用本文： | 杨世勇,王培进,徐莉苹. 基于最优控制的倒立摆系统[J]. 烟台大学学报(自然科学与工程版), 2007, 20(2): 120-122,154 |
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| 作者姓名： | 杨世勇 王培进 徐莉苹 |
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| 作者单位： | 烟台大学,计算机学院,山东,烟台,264005 |
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| 摘 要： | 对单级倒立摆系统的平衡控制问题进行了研究.首先建立了系统的数学模型,然后运用线性二次型最优控制策略设计控制器,并进行了仿真研究,最后在实际设备上完成了实时控制实验.仿真和实验结果表明,控制系统具有优良的品质和特性,不仅动态性能和稳态性能好,鲁棒性也很强.
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| 关 键 词： | 倒立摆 最优控制 控制器 仿真 实时控制 |
| 文章编号： | 1004-8820（2007）02-0120-03 |
| 收稿时间： | 2006-05-15 |
| 修稿时间： | 2006-05-15 |
Inverted Pendulum System Based on Optimal Control |
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| YANG Shi-yong,WANG Pei-jin,XU Li-ping. Inverted Pendulum System Based on Optimal Control[J]. Journal of Yantai University(Natural Science and Engineering edirion), 2007, 20(2): 120-122,154 |
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| Authors: | YANG Shi-yong WANG Pei-jin XU Li-ping |
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| Affiliation: | School of Computer, Yantai University, Yantai 264005, China |
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| Abstract: | The balance control of a single inverted pendulum system is focused.The mathematical model of the system is built,then the linear quadratic optimal control strategy is adopted to design the controller,and simulation is done.Finally,a real-time control experiment is carried out on a real apparatus.The simulation and experimental results show that the control system has good dynamic behavior, steady-state performance and robustness. |
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| Keywords: | inverted pendulum optimal control controller simulation real-time control |
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