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1、TheUniform-Velocity-WalkingLQRControllerResearchandDesignforLinearInvertedPendulumSystemHuangChengyu(NorthChinaInstituteofScienceandTechnologyInformationandControlTechnologyResearchInstitute,YanjiaoEast,Beijing,101601)Abstract:Theproblemaboutthecontroloftheself-balanc
2、ingmechanicalsystem’suniformmotionhasgreatresearchvalueandstrongrealityapplicationbackground,andtheinvertedpendulumhasbecomethetypicalexperimentequipmentfortheanalysisanddesignofthecontroltheorybecauseofitsnonlinearity.Inallusiontotheproblemabouttheuniformmotionofthel
3、inearinvertedpendulumsystem,wesetupthemathematicalmodelfirst,nextweputupthemodulesofthesystemonebyoneintheMatlab/Siluminkenvironmentandcompiledlotsoffunctionswhicharerelatedtothehardwarecommunicationandsoon,thenwedesignedtheLQRcontrolleradoptingtheoptimumcontroltheory
4、byusinglinearquadraticformandrealizedthecontrolofthelinearsingleordoubleinvertedpendulumsystem’suniformmotionbothinsimulationandphysicalenvironment,duringwhichthecontrollerhasshowngoodanti-jammingcapabilityforexternaldisturbance.Keywords:invertedpendulum,uniform-veloc
5、itywalking,LQR,Matlab/SimulinkChineseclassifiednumber:Theliteratureidentificationcode:ArticleNumbers:IntroductionAsatypicalapplicationexampleofcontroltheory,InvertedPendulumhasmanycharacterssuchashigh-ordertimes,multivariate,instability,nonlinearityandstrongcoupling,a
6、nditisanabsolutelyunstablesystem.TherearemanyresearchesonLinearInvertedPendulumcurrently,buttheygenerallysettheanglecontrolorthepositioncontrolascontrolgoalsandadoptedvariouscontrolstrategiessuchasPID,LQR,andfuzzycontrol.Robotcontrolisthehotresearchareanowadays,andthe
7、controltaskaboutthetwo-roundsself-balancingrobotrequiresnotonlythebalancementortheassuredpositionofitslocation,butalsotheabilitytowalk.Inviewoftheactualitythattheresearchonthewalkingcontrolofthiskindofself-balancingmechanicalsystemisdeficientatpresent,thispapersetsspe
8、edcontrolasthegoal,consideringtodesignauniform-velocity-walkingcontroller.Asthetwo-roundsself-balancingrobot’sprototypeisthe
