摘要
针对多变量、非线性、强耦合性的倒立摆系统,运用牛顿动力学方法建立其动力学方程,并进行线性化处理,得到状态空间模型。然后对该模型分别进行LQR控制和模糊控制,并在MATLAB环境下进行仿真,其对比结果对该方向的研究具有理论指导意义。
The Newton mechanics is used to drive the dynamic equation, and the state space equations are obtained through linear method for a muhivariable, nonlinear and strongly-coupling inverted pendulum. The two control methods which are LQR and fuzzy control are used in the single inverted pendulum. Through simulation in MATLAB, the two methods are compared carefully. The results play an important role in the learning in this respect.
出处
《信息技术与信息化》
2006年第4期137-139,共3页
Information Technology and Informatization
关键词
单级倒立摆
LQR控制
模糊控制
Single inverted pendulum LQR control Fuzzy control
