[1]赵海滨,刘 冲,陆志国,等.采用改进的LQR进行Pendubot系统的平衡控制[J].机械与电子,2018,(02):77-80.
　ZHAO Haibin,LIU Chong,LU Zhiguo,et al.Balance Control of Pendubot System by Using Improved LQR[J].Machinery & Electronics,2018,(02):77-80.
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采用改进的LQR进行Pendubot系统的平衡控制
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2018年02期
页码:
77-80
栏目:
智能工程
出版日期:
2018-02-24

文章信息/Info

Title:
Balance Control of Pendubot System by Using Improved LQR
文章编号:
1001-2257(2018)02-0077-04
作者:
赵海滨; 刘 冲; 陆志国; 于清文; 颜世玉
(东北大学机械工程与自动化学院,辽宁 沈阳110819)
Author(s):
ZHAO Haibin;  LIU Chong;  LU Zhiguo;  YU Qingwen;  YAN Shiyu
(School of Mechanical Engineering &Automation, Northeastern University, Shenyang 110819, China )
关键词:
Pendubot系统;  欠驱动系统;  二次型调节器;  非线性系统;  平衡控制
Keywords:
pendubot system;  underactuated system;  linear quadratic regulator;  nonlinear systems;  balance control
分类号:
TP24
文献标志码:
A
摘要:
对于非线性、强耦合的欠驱动两杆机器人Pendubot,采用改进的线性二次型调节器(LQR)进行不稳定平衡位置的平衡控制。首先,对Pendubot系统的动力学方程进行分析,并在平衡位置进行线性化。然后,平衡状态下力矩不为0的平衡位置进行控制时,对LQR控制器进行改进,设计了一个补偿参数,并给出了补偿参数的详细计算方法。最后,采用建立系统的仿真模型,并通过仿真实验进行验证。实验结果表明,改进的LQR方法能够使系统稳定在设置的平衡位置。
Abstract:
Improved linear quadratic regulator(LQR)was used to control the balance of unstable equilibrium position for Pendubot, a nonlinear and strong coupled underactuated two-link robot. Firstly, dynamic equation of the Pendubot system was analyzed and linearized at the equilibrium position. Then, in the case that the input torque was non-zero at the equilibrium position, the LQR controller was improved by designing a compensation parameter. The detailed calculation method for the compensation parameter was presented. Finally, the system simulation model was built and validated through simulation experiment. The experimental results show that the improved LQR method can stable the system at the set equilibrium position.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2017-11-15
基金项目:国家自然科学基金资助项目(51405073, 51505069); 中央高校基本科研业务费资助项目(N150308001)
作者简介:赵海滨(1979-),男,河北唐山人,讲师,博士,研究方向为机器人仿真和非线性动力学; 陆志国(1982-),男,辽宁锦州人,副教授,博士,研究方向为仿人机器人。
更新日期/Last Update: 2018-02-24