摘要
基于LQR对单级倒立摆进行了最优控制系统设计,并针对LQR最优控制中加权矩阵Q和R难以确定的问题,进行了倒立摆实验研究与分析,找出了倒立摆系统的动态响应与Q和R阵之间遵循的基本规律。实验结果显示了该结论的正确性和实用性,也为在利用该方法进行其它控制系统的设计中Q和R的选取提供了参考。
An LQR-based on single inverted pendulums optimal control system is designed.The paper makes a study and analysis of the weighted matrix Q and R through some inverted pendulum experiments to determine the Q and R.The basic laws have been found out between the system response performance and the matrix Q and R.The experimental results show that the conclusion is right and practical,thus providing references for choosing the Q and R to design other control systems.
出处
《工业仪表与自动化装置》
2005年第3期6-8,32,共4页
Industrial Instrumentation & Automation
基金
天津市科技发展重点基金资助项目(033803111)。
关键词
LQR
倒立摆
最优控制
LQR
inverted pendulum
optimal control
