机械制造与自动化Issue(5)：189-191,3.
最优控制方法在直线倒立摆中的应用
Application of Optimal Control Method in Linear Inverted Pendulum
刘惠超 1孔庆忠1
作者信息
- 1. 内蒙古工业大学 机械学院，内蒙古 呼和浩特010051
- 折叠
摘要
Abstract
Assuming that the inverted pendulum system itself instability ( including the friction force) is ignored, this system can be regarded as a typical motion of rigid body system. Based on the mathematical model ing method with Newton's laws of mechanics, the quadratic optimal control theory is used in primary inverted pendulum control and the inertial coordinate system dynamics equa-tion with the classical mechanics theory is used to be satisfied with the performance requirements of the general stability and ro-bustness of the control system. This article uses MATLAB to simulate the inverted pendulum system and analyzes the simulation results.关键词
最优控制理论/倒立摆系统/仿真Key words
optimal control theory/inverted pendulum/simulation分类
信息技术与安全科学引用本文复制引用
刘惠超,孔庆忠..最优控制方法在直线倒立摆中的应用[J].机械制造与自动化,2015,(5):189-191,3.
