基于LQG的推车线性倒立摆伺服控制与稳定

2018 International Conference on Power Energy, Environment and Intelligent Control (PEEIC) Pub Date : 2018-04-01 DOI:10.1109/PEEIC.2018.8665634

Chandramani Mahapatra, S. Chauhan, B. Hemakumar

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引用次数: 9

摘要

本文利用拉格朗日方程，建立了倒立摆-小车系统的非线性数学模型。通过泰勒级数近似实现了系统垂直位置的线性化。采用线性二次高斯(LQG)控制策略解决摆杆垂直直线位置的伺服问题和角度稳定问题。用于跟踪问题的参考信号是，方波。注入高斯白噪声作为过程/设备噪声和传感器/测量噪声。在MATLAB中分别得到了带噪声和不带噪声的仿真结果。LQG的性能基于时间响应规格和噪声抑制水平。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Servo control and Stabilization of Linear Inverted Pendulum on a Cart using LQG

In this work, non-linear Mathematical model of Inverted Pendulum(IP)-cart system is obtained using Lagrange’s equation. The linearization of the system about the vertical position is achieved by Tayler’s series approximation. Linear Quadratic Gaussian(LQG) control strategy is used for solving servo problem and stabilization of angle of pendulum rod about vertically straight position. Reference signal used for tracking problem is, square wave. White Gaussian noises are injected as process/plant noise and sensor/measurement noise. Simulated results are obtained with and without noises in MATLAB. The performance of LQG is based on time response specification and noise rejection level.

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2018 International Conference on Power Energy, Environment and Intelligent Control (PEEIC)

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