【摘要】 本文通过拉格朗日方程推导出环形一级倒立摆系统的数学模型,用能量方法对该模型进行摆起控制;在倒立摆成功摆起后,在倒立平衡点对系统模型进行线性化,并用线性二次型最优控制(LQR)算法对倒立摆线性化模型进行稳定控制。仿真结果表明本文给出的控制方法是有效的。更多还原

【Abstract】 This paper derives the mathematical model for system of single link rotary inverted pendulum from Lagrange Equation, and through this model the rotary inverted pendulum is swung up by energy methods. After the success of the inverted pendulum swung up, the mathematical model is made linear on the inverted balance point and through the linear model the inverted pendulum is kept stable on the inverted point by linear quadratic optimal control. Simulation experiments show that the control methods are effective.更多还原