摘要
从理论和实践上对直线一级倒立摆作了深入的研究。用牛顿—欧拉方法建立了倒立摆的数学模型,在此基础上采用线性二次型最优控制方法设计了倒立摆的控制器。通过固高公司GLIP2003倒立摆系统验证了设计结果,并达到较好的控制效果。
This paper makes a deep study of linear inverted pendulum. The Newton-Euler method is used to set up a mathematical model for the inverted pendulum, and then a pendulum controller is designed by using an optimal control method in a linear quadratic form. The design is tested by the GLIP2003 inverted pendulum system of the Googol Technology CO. Ltd. Its performance is satisfying.
出处
《工业仪表与自动化装置》
2007年第6期3-5,共3页
Industrial Instrumentation & Automation
基金
安徽省国际科技合作项目资助(05088025)
关键词
倒立摆
建模
LQR控制器
inverted pendulum
mathematical model
LQR controller
