摘要
本文通过对旋转倒立摆的动力学特性分析建立了基于Lagrange方程的数学模型,然后应用线性二次型最优控制策略设计控制器,最后在Windows2000平台下控制旋转倒立摆稳定在倒立状态。
In this paper w e analyze the dynamics of rotary inverted pendulum system and derive its mode l based on Lag rang e method.Then the linear quadratic optimal control str ateg y is applied to desig n the controller.The effectiveness of the proposed method is proved by balancing the pendulum at the inverted state successfully on the Windows 2000platform.
出处
《工业控制计算机》
2003年第8期30-32,共3页
Industrial Control Computer
