CAJ | 학술논문

以二级倒立摆系统为例，采用LQR状态反馈与卡尔曼状态估计相结合的方法，通过回路传输恢复LTR技术弥补LQG设计的不足，完成了LQG/LTR全状态反馈控制器的设计，并运用MATLAB语言进行仿真分析，将其仿真结果与LQR控制器进行了对比。结果表明，LQG/LTR控制在二级倒立摆系统中有效地解决了在外界干扰和量测噪声等情况下出现的不稳定问题，且具有较好的鲁棒性。
이이급도립파계통위례，채용LQR상태반궤여잡이만상태고계상결합적방법，통과회로전수회복LTR기술미보LQG설계적불족，완성료LQG/LTR전상태반궤공제기적설계，병운용MATLAB어언진행방진분석，장기방진결과여LQR공제기진행료대비。결과표명，LQG/LTR공제재이급도립파계통중유효지해결료재외계간우화량측조성등정황하출현적불은정문제，차구유교호적로봉성。
LQR state feedback was employed in combination with Calman optimal estimation to design LQG/LTR full state feedback controller for the double inverted pendulum system by using loop trans-fer recovery (LTR) method to compensate for the deficiency of LQG .MATLAB simulation analysis was then carried out .The simulation results were compared with those of LQR controller ,showing that the LQG/LTR-based system is able to effectively solve the instability problem from external dis-turbances and measurement noise and has good robustness .