摘要
基于拉格朗日方程对旋转倒立摆在不稳定平衡点上进行了线性化的数学建模。在多参数二次规划方法的基础上,建立了显示模型预测控制系统,且对在旋转倒立摆系统应用上做了研究。最后通过Matlab进行仿真,结果表明:EMPC方法对于旋转倒立摆的平衡控制效果良好。
Based on the Lagrangian equation the linearized mathematical modeling of the rotating inverted pendulum at the unstable equilibrium point is carried out.Based on the multi-parameter quadratic programming method,established a display model predictive control system,and did research on the application of rotating inverted pendulum system.Finally simulate through Matlab,the result shows:the EMPC method has a good effect on the balance control of the rotating inverted pendulum.
作者
马永凌
MA Yong-ling(Wuyi University College of Mechanical and Electrical Engineering,Wuyishan Fujian 354300)
出处
《数字技术与应用》
2020年第11期19-22,186,共5页
Digital Technology & Application
基金
福建省中青年教师教育科研项目(JAT190807)。
关键词
旋转倒立摆
建模
多参数二次规划
显式模型预测控制
仿真
rotating inverted pendulum
modeling
multi-parameter secondary programming
explicit model predictive control
simulation
