摘要
文章以加拿大Quanser公司生产的柔性关节系统为例,建立起柔性关节系统的状态空间模型,设计出线性二次型最优控制器（LQR）,借助MATLAB/Simulink和WinCon平台进行了仿真和实际实验.实验表明：LQR方法在柔性关节系统控制中取得了很好的效果.
State space model of flexible joint system produced by Quanser Company in Canada is established, linear quadratic regulator （LQR） optimal controller was designed in this paper. Simulation and experiment were carried out by Matlab/Simulink and WinCon flafform. Experiment validates the effectiveness and good performance of LQR approach in flexible joint system control.
出处
《实验技术与管理》
CAS
2006年第8期33-35,共3页
Experimental Technology and Management
关键词
柔性关节
理论建模
状态反馈
线形二次型最优控制(LQR)
flexible joint
theoretical model
state feedback
linear quadratic regulator （LQR） optimal controller
