摘要
基于两轮自平衡小车平台,针对目前欠驱动系统较成熟的控制方法对比缺乏的问题,应用仿真对比、实物验证的方法,对目前较为理想的H_∞控制和LQR控制两种控制方法进行了理论上的对比,证明了H_∞控制策略在理论上是更具实际意义的控制系统。通过在相同的初始条件和控制结构下进行联合对比仿真,对仿真结果的角度、角速度、位置、速度四个指标进行了对比分析。最后用实物实验进行了验证,得出了"针对欠驱动系统H_∞控制优于LQR控制"这一结论,对以后欠驱动系统的控制具有一定的参考价值。
This paper is based on thesystem of Self-balancing Two-wheeled cart,in view of the lack of comparison among the mature control methods of underactuated systems,the methods of simulation comparison and object verification are applied,with the compared theories of the suitable H_∞ control and LQR control,H_∞ control strategy was proved to be the control system with more practical significance theoretically. Through the comparison joint simulation in the same initial conditions and control structure,the four indexes of the angle,palstance,position and velocity of the simulation results are compared and analyzed,Physical experiments were also carried out. it came to the conclusion that H_∞ control is better than LQR control,which has a certain reference value for the later control of underactuated systems.
作者
刘满禄
韩帅
张俊俊
张华
LIU Man-lu;HAN Shuai;ZHANG Jun-jun;ZHANG Hua(Special Environment Robotics Laboratory of Sichuan Province,Southwest University of Science and Technology,SichuanMianyang 621010,China)
出处
《机械设计与制造》
北大核心
2019年第5期245-248,共4页
Machinery Design & Manufacture
基金
国家"十三五"核能开发科研项目资助([2016]1295)
关键词
自平衡小车
联合仿真
对比实验
实物验证
Self-Balancing Cart
Joint Simulation
Contrast Experiment
Physical Verification
