基于SimMechanics的直线六级倒立摆LQR控制研究

The Study of LQR Control Based on SimMechanics of Linear Six Inverted Pendulum

六级倒立摆是一个复杂的不稳定系统,数学建模较为繁琐.本文采用了MATLAB软件的SimMechanics工具箱建立直线六级倒立摆的机械结构模型,利用LQR理论设计出状态反馈控制器,对指定初始角度的直线六级倒立摆系统进行控制,得到了良好的控制效果.

Six inverted pendulum is a complex and unstable system,whose mathematical modeling is quite complicated.This paper establishes the structure model of linear six inverted pendulum based on SimMechanics toolbox of MATLAB software,and then based on the LQR theory to design state feedback controller.It is an effective control strategy measure for the system of linear six inverted pendulum.We can obtain quite good control results while we set up the specified initial angle in that structure model.