有约束复杂随动系统模型建立与控制研究

doi:10.3969/j.issn.1000-1158.2017.04.13

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Abstract A new constrained complex follow-up system-cup and ball pendulum system is proposed. To study control strategy of constrained dynamic system, this cup and ball pendulum system was chosen as study object. The system was modeled by Lagrange dynamics method. Controllability and observability of the system were studied firstly. Robust double closed-loop PID control and linear quadratic regulator optimal control based on genetic algorithm were used to achieve the experiment comparison. The comparative analysis results showed that robust double closed loop PID controller was of better robustness and transient characteristics, and linear quadratic regulator optimal controller based on genetic algorithm was of better dynamic characteristics.

Key words： metrology follow-up system double-loop PID control genetic algorithm LQR optimal control

Received: 08 June 2016 Published: 16 June 2017

PACS:	TB93
	TP275

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	Articles by authors
	FU Rong-rong
	LI Dong-yu
	SHI Pei-ming

Cite this article:

FU Rong-rong,LI Dong-yu,SHI Pei-ming. Research on Establishment and Control of a Constrained Complex Dynamic System Model[J]. Acta Metrologica Sinica, 2017, 38(4): 444-448.

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http://jlxb.china-csm.org:81/Jwk_jlxb/EN/10.3969/j.issn.1000-1158.2017.04.13 OR http://jlxb.china-csm.org:81/Jwk_jlxb/EN/Y2017/V38/I4/444

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