{"title":"基于PID-LQR的双倒立摆实时摆起与稳定","authors":"Erjon Shala, X. Bajrami, R. Likaj, A. Pajaziti","doi":"10.2478/scjme-2023-0013","DOIUrl":null,"url":null,"abstract":"Abstract This study describes a method for swinging up and stabilizing a double inverted pendulum (DIP) in real-time utilizing a PID-LQR combined control system. Firstly, a dynamic model of the double inverted pendulum system is made up and the equations of motion are constructed. The pendulum then is moved from its unstable position to a stable one using a PID-LQR controller. A comparison of the PID-LQR controller’s output and suggestions for improving system stability is presented and is suggested combined control system.","PeriodicalId":445896,"journal":{"name":"Strojnícky časopis - Journal of Mechanical Engineering","volume":"151 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2023-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Real Time Swinging Up and Stabilizing a Double Inverted Pendulum Using PID-LQR\",\"authors\":\"Erjon Shala, X. Bajrami, R. Likaj, A. Pajaziti\",\"doi\":\"10.2478/scjme-2023-0013\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Abstract This study describes a method for swinging up and stabilizing a double inverted pendulum (DIP) in real-time utilizing a PID-LQR combined control system. Firstly, a dynamic model of the double inverted pendulum system is made up and the equations of motion are constructed. The pendulum then is moved from its unstable position to a stable one using a PID-LQR controller. A comparison of the PID-LQR controller’s output and suggestions for improving system stability is presented and is suggested combined control system.\",\"PeriodicalId\":445896,\"journal\":{\"name\":\"Strojnícky časopis - Journal of Mechanical Engineering\",\"volume\":\"151 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2023-05-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Strojnícky časopis - Journal of Mechanical Engineering\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.2478/scjme-2023-0013\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Strojnícky časopis - Journal of Mechanical Engineering","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.2478/scjme-2023-0013","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Real Time Swinging Up and Stabilizing a Double Inverted Pendulum Using PID-LQR
Abstract This study describes a method for swinging up and stabilizing a double inverted pendulum (DIP) in real-time utilizing a PID-LQR combined control system. Firstly, a dynamic model of the double inverted pendulum system is made up and the equations of motion are constructed. The pendulum then is moved from its unstable position to a stable one using a PID-LQR controller. A comparison of the PID-LQR controller’s output and suggestions for improving system stability is presented and is suggested combined control system.
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