摘要
为了研究环形一级倒立摆的自动AA起摆及实现其稳定控制,采用拉格朗日方法推导建立环形一级倒立摆的数学建模,设计LQR最优控制器并对其性能进行分析。在取权重R=1的条件下,不断调整权重矩阵Q,得出最优Q值和R值,并通过环形一级倒立摆进行实物控制。实验结果表明,倒立摆能快速起摆,并能稳定控制。
In order to study the automatic swing -up of the first-order inverted pendulum ,and realize the stable control of it ,Lagrange method is used to establish mathematical modeling of the first -order inverted pendulum ,and design the LQR optimal controller ,then to analyze its performance .Under the condition of taking weight R = 1 ,constantly adjusting the weighting matrix Q ,it is concluded that the optimal values of Q and R .can be obtained .The experimental results show that the inverted pendulum can quickly swing up ,under stable control .
出处
《广东石油化工学院学报》
2015年第4期47-51,共5页
Journal of Guangdong University of Petrochemical Technology
基金
国家自然科学基金项目(61473331)
关键词
环形一级倒立摆
LQR控制算法
最优控制器
Annular first-order inverted pendulum
LQR control algorithm
Optimal controller