LQR与FUZZY控制在单极倒立摆中的应用
首发时间:2011-01-11
摘要:本文对单级倒立摆系统的平衡控制问题进行了研究。首先利用牛顿-欧拉方法建立了倒立摆的数学模型,然后进行了LQR控制器和模糊控制器的设计。通过 Simulink对倒立摆系统进行了建模仿真,同时分析了系统控制效果。结果表明:这两种模型均能解决非线性系统问题,实现了对单级倒立摆的稳定控制,并且结构简单,快速性好。为其它非线性不稳定的控制系统提供了一种有效的途径。
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The application of LQR and Fuzzy Control theory to a single inverted pendulum
Abstract:The balance control of a single inverted pendulum system was focused in this paper.Firstly,a mathematical model for the pendulum was set up by using the New ton-Euler method,then designed LQR and fuzzy controller.Simulation and analysis were carried out to analyze the control effects of the system by Simulink.The results showed that the two models realized the steady control and solved the nonlinear problem successfully with simple constructionand and fast-speed behaviors.Further more,the effective ways is proposed to control other nonlinear and unstable systems.
Keywords: Control technology Inverted pendulum LQR Fuzzy control
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