基于LQR的二级倒立摆设计与仿真

Design and Simulation of Double Inverted Pendulum Based on LQR

倒立摆是非线性系统的典型代表,可以用来检验算法的控制效果是否理想。以直线二级倒立摆作为研究对象,通过设计LQR(Linear Quadratic Regulator)控制器实现其稳定控制,使一级摆杆、二级摆杆及滑块都处于误差较小的动态平衡状态。借助MATLAB工具进行仿真实验,通过实验结果分析研究该控制器的性能,实验结果表明LQR控制器在二级倒立摆控制中呈现响应快速、振荡小、稳定性能好等特点。

Inverted pendulum is a typical representative of nonlinear system,which can be used to test whether the control effect of the algorithm is ideal.The research object of this paper is a linear double inverted pendulum,and its stable control is realized by designing LQR(Linear Quadratic Regulator)controller,so that the primary pendulum bar,the secondary pendulum bar and the slide block are in a dynamic balance state with less error.The simulation experiment is carried out with the help of MATLAB tool,and the performance of the controller is studied through the analysis of the experimental results.The experimental results show that the better LQR controller has the characteristics of fast response,small oscillation and good stability in the control of the double inverted pendulum.