智能电动汽车路径跟踪控制方法研究

基于LQR参数整定设计最优控制器,是目前最优控制设计采用最广泛的一种方法。首先建立汽车动力学模型并分析汽车路径跟踪过程。利用LQR最优控制算法实现对汽车路径跟踪的控制。另外,采用整定参数的方式分析改变目标函数中权矩阵Q和R对控制性能的影响,从而得到控制性能较好的一对权矩阵,得到较好的控制策略。并利用仿真结果验证所采用的方法能达到很好的控制效果。     

基于嵌入式控制器的直线倒立摆最优控制研究

倒立摆系统是典型的非线性、多变量、强耦合的系统,广泛应用于对各种控制理论和控制策略的有效性的检验。文中仅使用固高公司提供的伺服电机驱动器和倒立摆本体,另行设计了ARM控制器、信号连接电路,编写了运动控制函数库,搭建了一套基于ARM控制器和Linux系统的倒立摆控制系统,并在该实验平台使用PID,极点配置,LQR等算法完成仿真实验,并运用LQR对实际系统进行控制,实现了良好的控制效果。     

A novel controller design and evaluation for networked control systems with time-variant delays

A new delayed state-variable model for networked control systems is presented, upon which a linear quadratic regulator (LQR) is designed. A method of delays-estimation online is also given. A fuzzy logic with LQR controller is addressed for the difficulty on implementation of LQR in networked control systems (NCSs) with time-variant delays. Simulation results prove that the novel controller can make the system stable and robustly preserve the performance in terms of time-variant delays.     

基于线性二次型最优控制在结构振动控制中的研究

动力设备在工作过程中引起的振动对设备运行的可靠性、安全性及周围环境都会产生重要影响,因此寻求抑制振动有效控制方法具有重要意义。本文介绍了线性二次型（LQR）最优控制方法,以三层振动体为研究对象,采用数值计算和仿真相结合的方法,分析探讨了线性二次型最优控制在振动控制中的明显优势。     

Control method for semi-active suspension based on virtual prototype

1 Introduction 1 Semi-active suspension is advantaged by good performance and low price over the passive suspension and active suspension [1]. The control strategy as the core of a control system is widely researched in practice. The simple dynamic model is often adopted in the typical process. However, the differences between the practical and physical models bring on more idealization and less practicability. On the other hand, the mechanical designer and the controls designer use different…     

LQR控制策略在柔性关节系统中的实现

文章以加拿大Quanser公司生产的柔性关节系统为例,建立起柔性关节系统的状态空间模型,设计出线性二次型最优控制器（LQR）,借助MATLAB/Simulink和WinCon平台进行了仿真和实际实验.实验表明：LQR方法在柔性关节系统控制中取得了很好的效果.     

柴油发电机调速系统极点配置和LQR控制设计

柴油发电机调速器稳定性主要取决于柴油发电机调速系统的转速响应特性。文章分析了柴油机发电机调速特性,建立了柴油发电机调速系统的数学模型,得到柴油机调速系统参数表达式。应用现代控制理论,进行控制器的选择,分析比较闭环状态反馈极点配置控制器和最优控制策略LQR控制器,以完善调速器参数。通过仿真系统状态在阶跃响应和参数摄动时响应曲线,分析比较仿真结果,结果显示该设计的发电机调速系统具有更好的动态性能,并且改善了系统频率的稳定性。     

基于模糊自适应PID的桥式起重机智能防摆控制研究

为了消除桥式起重机吊重摆动和实现小车精确定位,提高起重机工作效率,国内外很多学者对防摆控制方法做了大量研究。在建立起重机非线性数学模型的基础上,完成基于模糊自适应PID防摆控制器的设计,其中角度环采用模糊控制器,位置环采用模糊PID控制器。通过与线性二次型最优控制（LQR）仿真结果比较,表明该方法的可行性,其控制过程更加平稳,稳态精度更高,并且当吊重质量和绳长发生改变时,系统仍有较强的鲁棒性。     

基于线性二次型最优控制策略的倒立摆实验系统搭建

以自动控制领域典型的实验、教研设备——倒立摆系统作为研究对象,在建立了倒立摆系统数学模型的基础上,采用线性二次型最优策略进行控制,并利用MFC实现了人机交互,自主搭建了一套直线型一级倒立摆实验系统。系统的成功起摆与保持倒立控制的实现,验证了建模的正确性与控制方式的有效性。     

On modal energy in civil structural control

A new control strategy based on modal energy criterion is proposed to demonstrate the effectiveness of the control system in reducing structural earthquake responses. The modal control algorithm combining LQR （linear quadratic regulator） control algorithm is adopted in the discrete time-history analysis. The various modal energy forms are derived by definition of the generalized absolute displacement vector. A preliminary numerical study of the effectiveness of this control strategy is carried out on a 20-storey framed steel structural model. The controlled performance of the model is studied from the perspectives of both response and modal energy. Results show that the modal energy-based control strategy is very effective in reducing structural responses as well as in consuming a large amount of modal energy, while augmentation of additional generalized control force corresponding to the modes that contain little modal energy is unnecessary, as it does little help to improve the controlled structural performance.