机械与电子2018，Vol.36Issue(2)：77-80,4.
采用改进的LQR进行Pendubot系统的平衡控制
Balance Control of Pendubot System by Using Improved LQR
摘要
Abstract
Improved linear quadratic regulator (LQR) was used to control the balance of unstable equilibrium position for Pendubot,a nonlinear and strong coupled underactuated two-link robot.Firstly,dynamic equation of the Pendubot system was analyzed and linearized at the equilibrium position.Then,in the case that the input torque was non-zero at the equilibrium position,the LQR controller was improved by designing a compensation parameter.The detailed calculation method for the compensation parameter was presented.Finally,the system simulation model was built and validated through simulation experiment.The experimental results show that the improved LQR method can stable the system at the set equilibrium position.关键词
Pendubot系统/欠驱动系统/二次型调节器/非线性系统/平衡控制Key words
pendubot system/underactuated system/linear quadratic regulator/nonlinear systems/balance control分类
信息技术与安全科学引用本文复制引用
赵海滨,刘冲,陆志国,于清文,颜世玉..采用改进的LQR进行Pendubot系统的平衡控制[J].机械与电子,2018,36(2):77-80,4.基金项目
国家自然科学基金资助项目(51405073,51505069) （51405073,51505069）
中央高校基本科研业务费资助项目(N150308001) （N150308001）
