CAJ | 학술논문

在忽略掉倒立摆系统本身自然不稳定因素以及摩擦阻力的影响后，倒立摆系统就成了一个典型的运动刚体系统，利用在惯性坐标系内的经典力学理论建立系统的动力学方程，采用力学分析方法建立直线型一级倒立摆的数学模型。结果证明，基于牛顿力学定律的数学建模方法，应用二次型最优控制理论对一级倒立摆实现控制，并能满足控制系统的稳定性和鲁棒性，用MATLAB进行仿真，并对仿真试验结果进行了分析研究。
재홀략도도립파계통본신자연불은정인소이급마찰조력적영향후，도립파계통취성료일개전형적운동강체계통，이용재관성좌표계내적경전역학이론건립계통적동역학방정，채용역학분석방법건립직선형일급도립파적수학모형。결과증명，기우우돈역학정률적수학건모방법，응용이차형최우공제이론대일급도립파실현공제，병능만족공제계통적은정성화로봉성，용MATLAB진행방진，병대방진시험결과진행료분석연구。
By ignored the natural unstable factors and the influence of frictional resistance ,the inverted pendulum system becomes a typical motion of rigid body system .Based on the classical mechanics theory in inertial coordinate system ,the dynamic equation of mechanical analysis method is used to establish the mathematical model of linear level inverted pendulum .The results of it can prove that the mathematical modeling method based on Newton's laws of mechanics and the application of the quadratic optimal control theory can control the single inverted pendulum ,and can satisfy the stability and robustness of the control system .MATLAB is used to simulate ,and the result of the simulation is analyzed .