基于LQR的二级旋转倒立摆电液控制系统研究

Research of Electric-hydraulic Control System of Double-rotational Inverted Pendulum Based on LQR

针对复杂环境下系统的不稳定、非线性和快速性等要求较高的特性,以及旋转式二级倒立摆相对于一级摆增加一个自由度,非线性、耦合特性和抖振更加严重的问题,通过建立理论模型,并设计了一种LQR控制器,测试确定控制参数,实现对旋转式二级倒立摆系统的稳定控制。仿真结果表明:在受到人工干扰下,各个状态变量的实时变化曲线的跟踪效果较好,控制摆角的精确度达到10-3数量级,表明基于LQR方法对二级倒立摆的控制效果较为优越,为相关领域的控制问题提供了依据。

Aimed at the higher requirement on performance of instability,nonlinear,rapidity of system under complex environment,and more severe problem of shaking and other characteristics of coubling,nonlinearity and one degree of freedom( 1DOF) added of double-rotational inverted pendulum as relatively to single-rotational inverted pendulum,one theoretical model was established. One Linear Quadratic Regulator( LQR) controller was designed,which control parameters were determined by tests so as to achieve stability control of the double-rotational inverted pendulum. The simulation results show that under manual disturbance,the real-time changing curve of each state variable shows tracking effect good,and the accuracy of vector angle can reach 10- 3 level. The control effect of double-rotational inverted pendulum based on LQR performes more better,which provides the basis for the control problem in related area.