计算机工程与应用2016，Vol.52Issue(20)：242-250,9.DOI:10.3778/j.issn.1002-8331.1412-0237
二级直线倒立摆系统的实物控制
Control of double linear inverted pendulum
摘要
Abstract
In view of the double linear inverted pendulum system, the theoretical model is built based on Lagrange equation method, and the balanced control is achieved by adopting Linear Quadratic Regulator(LQR)approach and Sliding Mode Control(SMC)approach respectively in the case of the presence of interference. The qualitative relationship between matrix Q, R and feedback control matrix K is studied for LQR algorithm. After repeated experiments and continuous trying, a good set of control parameters are got to achieve the stable control of inverted pendulum. SMC algorithm based on expo-nential reaching law control method is applied to design sliding mode variable structure controller, and the chattering is further weakened by using boundary layer method. Finally, physical balanced control of the inverted pendulum is imple-mented through simulation and experiments.关键词
二级直线倒立摆/线性二次最优控制/滑模控制Key words
double linear inverted pendulum/Linear Quadratic Regulator(LQR)/Sliding Mode Control(SMC)分类
信息技术与安全科学引用本文复制引用
尹逊和,樊雪丽,杜洋,董春..二级直线倒立摆系统的实物控制[J].计算机工程与应用,2016,52(20):242-250,9.基金项目
国家自然科学基金（No.61172022）。 （）
