【摘要】 倒立摆系统是一个复杂的、非线性的、不稳定的高阶系统。倒立摆的控制一直是控制理论及应用的典型课题。分析了如何利用拉格朗日方程对直线柔性连接两级倒立摆系统建模,采用LQR法设计最优控制器,进行了具体架构以及阐述了此系统设计的控制器在实际物理系统中的实现问题。所设计的控制器对此倒立摆系统成功实施了控制,既证明了系统建模的正确性,也是倒立摆控制中的一项重大突破。相关研究成果将在航天科技及机器人学等领域发挥重要作用。更多还原

【Abstract】 Inverted Pendulum System is a complicated, nonlinear,unstable system of high order.The stability of that is a typical problem to the application of modern control theory.Modeling by using Lagrange equation is discussed, LQR controller is designed and this physical system is successfully controlled,which not only proves the exactness of modeling,but also plays an important role in Inverted Pendulum Control.It also will be widely applied in Spaceflight Technology and Robots Area.更多还原