摘要
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,通过对控制原理分析、数学建模分析、状态反馈设计、MATLAB仿真,然后在搭建的实验平台上用LQR方法编程实现对其最优控制。系统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 researchers. Through control theory analysis, mathematical modeling and analysis, state feedback design, MATLAB simulation, and then set up the experimental platform for its programming with the LQR method for optimal control. The results show the effectiveness and correctness of the proposed method.
出处
《电气传动自动化》
2012年第3期22-25,共4页
Electric Drive Automation
关键词
倒立摆
LQR方法
最优控制
inverted pendulum
LQR method
optimal control
