Research and Realization of Stable Pendulum Control of Linear Inverted Pendulum Based on LQR
Aiming at the stabilization control problem of the inverted pendulum,an LQR controller was researched and designed.First,considered the resistance moment of the swing of the pendulum rod,the mathematical model of the linear inverted pendulum is derived by Newtonian mechanics analysis method.The linear state space model is established,and the stability,controllability and observability of the system are analyzed.By using methods of simulation and trial to determine the weighting matrix Qand R,the state feedback gain matrix Kis obtained,thus completing the design of the LQRcontroller.After that,an inverted pendulum ex-periment platform with an open motion controller as the core was designed and built,a real-time human-computer interaction program was developed on the computer,and an inverted pendulum control algorithm was written in the motion controller.Fi-nally,simulation and actual measurement experiments are carried out to verify the effectiveness and feasibility of the designed LQRcontroller.
Linear Inverted PendulumLQRMotion ControllerOptimal Control
NETL
NSTL
万方数据
维普
