基于吊车—双摆系统的可拓控制仿真研究

Simulation Research of Extension Control Based on Crane-Double Pendulum System

在现有的可拓控制器的结构及算法基础上提出了一种基于最优控制理论的改进的可拓控制算法(LQR—EC),并应用于吊车—双摆这一单入多出系统。借助MATLAB仿真平台对其控制效果进行仿真研究。结果表明,LQR—EC算法具有原理简单、响应快速稳定等特点。

According to the existed structure and algorithm of extension controller, proposed an improved extension control algorithm based on the Optimal Control, which was named LQR--EC, and applied to a SIMO system--Crane-Double Pendulum System. And, using MATLAB simulation platform to study the effect of the LQR--EC Algorithm. The result shows that, the LQR--EC Algorithm not only has a simple theory, but also has rapid response and stability.