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本文首先建立了二级倒立摆的数学模型,通过应用PID控制和LQR控制两种方式对其进行了控制。通过实验研究,发现PID控制规律对于倒立摆这种常规不稳定的系统具有一定的控制作用,LQR控制能够实时控制二级倒立摆系统,并具有一定的抗干扰能力。
In this paper, the mathematical model of two-stage inverted pendulum is established firstly, and then it is controlled by applying PID control and LQR control. Through experimental research, it is found that the PID control law has a certain control effect on the inverted pendulum, a conventional unstable system. The LQR control can control the two-stage inverted pendulum system in real time and has certain anti-interference ability.