CAJ | 학술논문

假设忽略掉倒立摆系统本身不稳定因素(摩擦阻力)的影响后，倒立摆系统就可以看成是一个典型的运动刚体系统。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，使用在惯性坐标系内的经典力学理论动力学方程，能满足控制系统的一般稳定性和鲁棒性的性能要求。采用MATLAB对倒立摆系统进行仿真模拟实验，并对仿真结果进行分析。
가설홀략도도립파계통본신불은정인소(마찰조력)적영향후，도립파계통취가이간성시일개전형적운동강체계통。기우우돈역학정률적수학건모방법，응용이차형최우공제이론대일급도립파실현공제，사용재관성좌표계내적경전역학이론동역학방정，능만족공제계통적일반은정성화로봉성적성능요구。채용MATLAB대도립파계통진행방진모의실험，병대방진결과진행분석。
Assuming that the inverted pendulum system itself instability ( including the friction force) is ignored, this system can be regarded as a typical motion of rigid body system. Based on the mathematical model ing method with Newton's laws of mechanics, the quadratic optimal control theory is used in primary inverted pendulum control and the inertial coordinate system dynamics equa-tion with the classical mechanics theory is used to be satisfied with the performance requirements of the general stability and ro-bustness of the control system. This article uses MATLAB to simulate the inverted pendulum system and analyzes the simulation results.