CAJ | 학술논문

单级倒立摆控制是一个即复杂而又对准确性、快速性要求很高的非线性不稳定系统控制问题。单级倒立摆数学模型的建立对研究其稳定性具有指导作用。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，在MATLAB环境下进行仿真。实验结果表明，二次型最优控制具有良好的响应性能和算法简单等特点，在实际应用中具有重要意义。
단급도립파공제시일개즉복잡이우대준학성、쾌속성요구흔고적비선성불은정계통공제문제。단급도립파수학모형적건립대연구기은정성구유지도작용。침대다변량、비선성、강우합성적도립파계통，운용우돈동역학방법건립기동역학방정，병진행선성화처리，득도상태공간모형。연후대해모형분별진행LQR공제，재MATLAB배경하진행방진。실험결과표명，이차형최우공제구유량호적향응성능화산법간단등특점，재실제응용중구유중요의의。
Single-stage inverted pendulum control is a nonlinear and unstable system control problem that is complicated and of high accuracy and rapidity remands.The mathematical model of single stage inverted pendulum have guidance to study its stability.For multi-variable,nonlinear,strong coupling inverted pendulum system,using Newtonian dynamics method to establish the dynamic equation,and linearization processing to get the state space model.Then using LQR control the model of respectively,under the environment of MATLAB simulation. The experimental results show that quadratic optimal control has the characteristics of good response performance and the algorithm is simple,it is of great signiifcance in practical application.