| 基于卡尔曼滤波的一级倒立摆LQR控制研究 |
| |
| 引用本文： | 孙大卫,曾静,张国良.基于卡尔曼滤波的一级倒立摆LQR控制研究[J].实验技术与管理,2007,24(2):37-40. |
| |
| 作者姓名： | 孙大卫 曾静 张国良 |
| |
| 作者单位： | 1. 第二炮兵工程学院,自动控制系,陕西,西安,710025
2. 第二炮兵工程学院,自动控制系,陕西,西安,710025;西安理工大学,自动化系,陕西,西安,710048 |
| |
| 摘 要： | 倒立摆系统的输出不可避免地受到系统噪声和量测噪声的影响,应用卡尔曼滤波对系统输出作最优估计,可以有效地提高系统的鲁棒性。文中给出了卡尔曼滤波应用条件,对单一LQR调节器系统和前置卡尔曼滤波的LQR调节器系统作了仿真对比。并应用前置卡尔曼滤波的LQR调节器成功稳定了一级倒立摆系统。
|
| 关 键 词： | 卡尔曼滤波 倒立摆 仿真 |
| 文章编号： | 1002-4956（2007）02-0037-04 |
| 收稿时间： | 2006-03-07 |
| 修稿时间： | 2006-06-28 |
Control to inverted pendulum based on kalman filter |
| |
| SUN Da-wei,ZENG Jing,ZHANG Guo-liang.Control to inverted pendulum based on kalman filter[J].Experimental Technology and Management,2007,24(2):37-40. |
| |
| Authors: | SUN Da-wei ZENG Jing ZHANG Guo-liang |
| |
| Abstract: | The output of inverted pendulum system is inevitably disturbed by system noise and measure noise.Kalman filter is applied to make an optional estimation for the system output,which can improve the system robust.The Kalman filter application condition is given in this paper and makes an emulation contrast between the single LQR adjuster with forehead kalman filter system.Applying the LQR adjuster with forehead kalman filter stabilized single inverted pendulum system successfully. |
| |
| Keywords: | kalman filter inverted pendulum simulation |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
|
