采用改进的LQR进行Pendubot系统的平衡控制

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.%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.