CAJ | 학술논문

在LQR控制器设计原理的基础上，利用改进粒子群算法对控制器参数矩阵k进行优化，使之在对倒立摆实现稳摆控制的同时减小小车的位移误差积分。仿真实验证明：改进粒子群算法优化后的LQR控制器达到了对二级倒立摆稳摆控制的目的，减小了小车的位移误差积分。
재LQR공제기설계원리적기출상，이용개진입자군산법대공제기삼수구진k진행우화，사지재대도립파실현은파공제적동시감소소차적위이오차적분。방진실험증명：개진입자군산법우화후적LQR공제기체도료대이급도립파은파공제적목적，감소료소차적위이오차적분。
This article focuses on using improved PSO （Particle Swarm Algorithm） to optimize control- ler parameter matrix k on the basis of LQR controller design principle, so that we can not only achieve the stability control of inverted pendulum, but also reduce the displacement error integral of the car. Finally, through simulation, it demonstrates the LQR controller can achieve the effect of the stability control of inverted pendulum and reduction of the displacement error integral of the car after the opti- mization of the improved PSO.