摘要
对单级倒立摆系统的平衡控制问题进行了研究.首先建立了系统的数学模型,然后运用线性二次型最优控制策略设计控制器,并进行了仿真研究,最后在实际设备上完成了实时控制实验.仿真和实验结果表明,控制系统具有优良的品质和特性,不仅动态性能和稳态性能好,鲁棒性也很强.
The balance control of a single inverted pendulum system is focused. The mathematical model of the system is built, then the linear quadratic optimal control strategy is adopted to design the controller, and simulation is done. Finally, a real-time control experiment is carried out on a real apparatus. The simulation and experimental results show that the control system has good dynamic behavior, steady-state performance and robustness.
出处
《烟台大学学报（自然科学与工程版）》
CAS
2007年第2期120-122,154,共4页
Journal of Yantai University(Natural Science and Engineering Edition)
关键词
倒立摆
最优控制
控制器
仿真
实时控制
inverted pendulum
optimal control
controller
simulation
real-time control
