【作者】 王仲民； 孙建军； 何永利； 岳宏；

【Author】 WANG Zhong-min, SUN Jian-jun, HE Yong-li,YUE Hong (Department of Mechanical Engineering. Tianjin University of Technology and Education, Tianjin 300222, China;Institute of Robotic and Automation, Hebei University of Technology, Tianjin 300130, China.

【机构】 天津工程师范学院机械工程系； 河北工业大学机器人及自动化研究所；

【摘要】 针对直线型倒立摆系统,基于线性二次型调节器(LQR)理论设计了系统最优控制器．针对LQR中加权矩阵 Q和R难以确定的问题,从控制效果出发,采用自适应遗传算法对其进行全局优化,不仅满足了控制指标要求,而且实现了摆杆摆角和小车位移的良好控制效果．理论分析和实验结果表明了该优化设计方法的正确性和有效性．更多还原

【Abstract】 An optimal controller is designed based on linear quadratic regulator (LQR) for the linear inverted pendulum. Because it is difficult to determine the weighted matrix in LQR. then taking controlling effect as the starting point, an adaptive genetic algorithm to optimize LQR is adopted. It satisfies demands of system, and the angle of the pendulum and the displacement of the cart are well controlled. Theory analysis and experiments results show the correctness and effectiveness of the method.更多还原