基于LQR控制算法的平面倒立摆控制研究

Control and Study of Planar Inverted Pendulum Based on LQR Control Algorithm

该文采用基于能量的拉格朗日方程详细分析了平面倒立摆的数学模型,根据平面倒立摆系统的控制特性对数学模型进行解耦分析,并给出了平面倒立摆系统的线性近似化状态方程。在此基础上,该文对平面倒立摆控制进行LQR算法设计,并在固高科技公司的GPIP2001型平台上对控制算法进行了实验验证,实验结果证明了算法的正确性和有效性。

This paper provides a detailed analysis of the planar inverted pendulum mathematical model based on the energy Lagrange equations.According to the planar inverted pendulum system control characteristics,the paper introduces the decoupling analysis of mathematical model,and gives an approximate linear state equation of the planar inverted pendulum system.On this basis,the paper designs a LQR algorithm for planar inverted pendulum control,and realizes the control algorithm by experiments on GPIP2001 planar inverted pendulum platform which produced by Googol Technology Co.Ltd..The experiment results prove the correctness and effectiveness of the algorithm.