基于线性二次型最优控制策略的倒立摆实验系统搭建

Construction of the Inverted-Pendulum Experimental System Based on LQR

以自动控制领域典型的实验、教研设备——倒立摆系统作为研究对象,在建立了倒立摆系统数学模型的基础上,采用线性二次型最优策略进行控制,并利用MFC实现了人机交互,自主搭建了一套直线型一级倒立摆实验系统。系统的成功起摆与保持倒立控制的实现,验证了建模的正确性与控制方式的有效性。

As a classical experimental instrument in automation,the inverted-pendulum system is accepted by most re-searchers.This paper introduced the process of system modeling and construction.The constructional inverted-pendulum system is controlled by the way of LQR and achieves interaction through MFC.The results show the effectiveness and le-gitimacy of the proposed method.