【摘要】 以加拿大Quanser公司生产的2自由度起重机机架模型———旋转机架系统为研究对象,首先基于拉格朗日方程建立了系统的数学模型,然后对模型进行了线性化处理得到了其状态空间表达式,在此基础之上设计出了线性二次型最优控制器(LQR)。借助Matlab/Simulink和Wincon控制平台,进行了仿真与实时控制实验。结果表明,LQR控制策略具有良好的效果。更多还原

【Abstract】 A two-degree-of-freedom rotary gantry system was considered,which is made by Qusanser Co.Ltd.Firstly,the dynamic model is based on the Lagrange’s equation,and then the linear approximation is implemented to obtain a linear state-space model,based on which a linear quadratic optimal regulator(LQR) was designed.Finally,both simu-lation and experimental results were provided to testify the effectiveness of the proposed approach.更多还原