CAJ | 학술논문

针对高阶次、多变量、非线性、欠驱动的单轮自平衡车系统，提出了一种改进的最优控制算法。首先采用拉格朗日方程推导出力学模型，线性化后，得到系统的线性化方程，然后分别利用线性二次型最优控制算法和基于对称根轨迹的最优控制算法实现了单轮机器车的平衡控制和动态稳定。通过比较可以看出，基于对称根轨迹的最优控制算法较传统的最优控制算法有更好的稳定性和鲁棒性，仿真结果验证了力学模型的正确性和反馈线性化控制算法的有效性。
침대고계차、다변량、비선성、흠구동적단륜자평형차계통，제출료일충개진적최우공제산법。수선채용랍격랑일방정추도출역학모형，선성화후，득도계통적선성화방정，연후분별이용선성이차형최우공제산법화기우대칭근궤적적최우공제산법실현료단륜궤기차적평형공제화동태은정。통과비교가이간출，기우대칭근궤적적최우공제산법교전통적최우공제산법유경호적은정성화로봉성，방진결과험증료역학모형적정학성화반궤선성화공제산법적유효성。
An improved optimal approach is proposed for the high order ,multivariate ,typical nonlinear underactuated unicycle .The dynamical model is firstly established based on Lagrangian formulation .The tangent linearization of the model at its equilibrium yields to the linearization nominal model .Then re-spectively using LQR optimal algorithm and SRL optimal control algorithm to achieve dynamic balancing and motion control of the unicycle .By the simulation comparisons ,SRL optimal control algorithm has a better anti-jamming and robustness than LQR optimal control algorithm .Computer simulation verifies the validity of the dynamic model ,the effect of the controller is testified by simulation experiments .