倒立摆
控制理论(社会学)
PID控制器
二级倒立摆
职位(财务)
控制器(灌溉)
理论(学习稳定性)
钟摆
计算机科学
动力学方程
控制工程
控制(管理)
工程类
物理
非线性系统
温度控制
人工智能
农学
经济
机器学习
生物
机械工程
量子力学
财务
作者
Erjon Shala,Xhevahir Bajrami,Ramë Likaj,Arbnor Pajaziti
出处
期刊:Strojnícky časopis
日期:2023-05-01
卷期号:73 (1): 159-168
标识
DOI:10.2478/scjme-2023-0013
摘要
Abstract This study describes a method for swinging up and stabilizing a double inverted pendulum (DIP) in real-time utilizing a PID-LQR combined control system. Firstly, a dynamic model of the double inverted pendulum system is made up and the equations of motion are constructed. The pendulum then is moved from its unstable position to a stable one using a PID-LQR controller. A comparison of the PID-LQR controller’s output and suggestions for improving system stability is presented and is suggested combined control system.
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