山西大同大学学报（自然科学版）
山西大同大學學報（自然科學版）
산서대동대학학보（자연과학판）
JOURNAL OF SHANXI DATONG UNIVERSITY(NATURAL SCIENCE EDITION)
2009年
4期
26-29
,共4页
一阶倒立摆%PID控制%LQR控制%Matlab仿真
一階倒立襬%PID控製%LQR控製%Matlab倣真
일계도립파%PID공제%LQR공제%Matlab방진
single inverted pendulum%PID control%LQB control%matlab simulation
对一阶倒立摆数学模型建立及其稳定性和能控性进行了分析.并使用Matlab仿真软件,对一阶倒立摆的PID控制和LQR控制方法进行了仿真对比.仿真结果说明,LQR控制方法能对多个输入量同时进行控制,控制精度很高,能更快地达到满意的效果.
對一階倒立襬數學模型建立及其穩定性和能控性進行瞭分析.併使用Matlab倣真軟件,對一階倒立襬的PID控製和LQR控製方法進行瞭倣真對比.倣真結果說明,LQR控製方法能對多箇輸入量同時進行控製,控製精度很高,能更快地達到滿意的效果.
대일계도립파수학모형건립급기은정성화능공성진행료분석.병사용Matlab방진연건,대일계도립파적PID공제화LQR공제방법진행료방진대비.방진결과설명,LQR공제방법능대다개수입량동시진행공제,공제정도흔고,능경쾌지체도만의적효과.
Inverted pendulum control system is an ideal experimental platform for teaching control theory and carrying out a variety of control experiments. The mathematical model of single inverted pendulum was established and its stability and controllability were analyzed. Through simulation in Matlab, Two Control methods-PID and LQR were compared. The results show that the precision of LQR is higher than PID and can achieve the well effect faster.
