有约束随动系统控制策略研究

doi:10.3969/j.issn.1000-1158.2020.02.10

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Abstract A new constrained complex follow-up system-cup and ball pendulum system was proposed. The new system was modeled by the method of lagrange dynamics. controllability and observability of the system were studied firstly. Two control methods of state feedback controller with pole assignment and LQR optimal control based on genetic algorithm were used to achieve the experiment comparison in this paper. Through the comparative analysis, state feedback controller with pole assignment has better robustness and transient characteristics. And LQR optimal control based on genetic algorithm has better steady-state characteristics and shorter tuning time. Meanwhile, compared with state feedback controller with pole assignment LQR optimal control based on genetic algorithm is more targeted in terms of parameter selection, therefore it is convenient for practical application.

Key words： metrology follow-up system cup and ball pendulum system pole assignment genetic algorithms LQR optimal control

Received: 22 May 2018 Published: 17 February 2020

PACS:

TB931

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	Articles by authors
	FU Rong-rong
	LI Dong-yu
	TIAN Yong-sheng
	WANG Han

Cite this article:

FU Rong-rong,LI Dong-yu,TIAN Yong-sheng, et al. Research on a New Constrained Servo System Control Strategy[J]. Acta Metrologica Sinica, 2020, 41(2): 185-189.

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http://jlxb.china-csm.org:81/Jwk_jlxb/EN/10.3969/j.issn.1000-1158.2020.02.10 OR http://jlxb.china-csm.org:81/Jwk_jlxb/EN/Y2020/V41/I2/185

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