摘要
二级倒立摆是检验各种控制理论的理想模型.本文给出了二级倒立摆的两种最优控制方法,分别是线性二次状态控制器(LQR)和线性二次输出控制器(LQY).通过仿真实验,分别得出LQR和LQY两种方法下的响应曲线,可以发现两种方法都能够使得二级倒立摆系统稳定,且将两种方法进行了对比,发现其控制效果相当.
The double inverted pendulum is an ideal model of inspecting all kinds of control theory .This paper described two optimal control methods , LQR and LQY.Through the simulation , the response curses of LQR and LQY were got .The two methods were compared .It can be seen that the methods can make the double inverted pendulum stable .The simulate results reveal that the control effects of them are fairly .
出处
《佳木斯大学学报（自然科学版）》
CAS
2014年第3期415-417,共3页
Journal of Jiamusi University：Natural Science Edition
关键词
二级倒立摆
最优控制
仿真
double inverted pendulum
optimal control
simulation
