基于LQR的双并联倒立摆系统的建模与仿真

Modeling and Simulation of Parallel-type Double Inverted Pendulum System Based on LQR

研究了一种具有多变量、强耦合、高阶次和开环绝对不稳定等复杂特性的双并联倒立摆(加弹簧链接)控制系统。依据动力学原理建立了系统状态空间数学模型,并利用线性二次型最优控制方法设计了双并联倒立摆系统的控制器。仿真结果表明,两个摆杆可以很好地稳定在垂直位置附近,具有一定的抗干扰能力。研究结果对复杂工业过程控制具有一定的指导意义。

The control system for parallel-type double inverted pendulum （spring connected ） that features multi-variable, strong coupling, high order and absolutely unstable in open loop, is studied. In accordance with the dynamics principle, the state space mathematical model is established ; and the controller of the parallel-type double inverted pendulum is designed by adopting linear quadratic optimal control method. The result of simulation indicates that the two pendulums can be kept stably on vertical position and the controller offers anti-disturbance capability ; the research plays a significant role in complex industrial process control.