摘要
从理论和实践上对线性一阶直线双倒立摆作了深入的研究。首先,用牛顿—欧拉方法建立了双倒立摆的精确数学模型;其次,对其模型进行最优控制。主要采用线性二次型最优控制方法设计了双倒立摆的控制器。通过试验对模型进行仿真验证,并达到较好的控制效果。
This paper introduces the study of a linear two-inverted pendulum. The mathematical model is established by using the Newton-Euler method. And the controller is designed by using an optimal control method in a linear quadratic form. Simulation result is also given.
出处
《自动化技术与应用》
2009年第5期11-13,共3页
Techniques of Automation and Applications
关键词
双倒立摆
数学建模
LQR控制器
two-inverted pendulum
mathematical model
LQR controller
