基于物联网的LQR控制倒立摆系统设计

Q3 Mathematics International Journal for Simulation and Multidisciplinary Design Optimization Pub Date : 2020-01-01 DOI:10.1051/smdo/2020007

D. Maneetham, Petrus Sutyasadi

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引用次数: 3

摘要

本研究提出一种平衡与稳定倒立摆的控制方法。分析了鲁棒控制，并对模型输出进行了实时反馈调整。利用反馈控制器的状态空间方程得到反馈。利用物联网技术将线性二次型调节器(LQR)模型整定与控制应用于倒立摆。系统的状态和性能可以通过个人电脑和手机进行监测和控制。最后，利用LQR控制器对倒立摆进行控制，开发的物联网通信将监控所有条件和性能结果，并帮助倒立摆改进物联网控制的各种操作。

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System design for inverted pendulum using LQR control via IoT

This research proposes control method to balance and stabilize an inverted pendulum. A robust control was analyzed and adjusted to the model output with real time feedback. The feedback was obtained using state space equation of the feedback controller. A linear quadratic regulator (LQR) model tuning and control was applied to the inverted pendulum using internet of things (IoT). The system's conditions and performance could be monitored and controlled via personal computer (PC) and mobile phone. Finally, the inverted pendulum was able to be controlled using the LQR controller and the IoT communication developed will monitor to check the all conditions and performance results as well as help the inverted pendulum improved various operations of IoT control is discussed.

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来源期刊

International Journal for Simulation and Multidisciplinary Design Optimization Mathematics-Control and Optimization

CiteScore

2.00

自引率

0.00%

发文量

审稿时长

16 weeks

期刊介绍： The International Journal for Simulation and Multidisciplinary Design Optimization is a peer-reviewed journal covering all aspects related to the simulation and multidisciplinary design optimization. It is devoted to publish original work related to advanced design methodologies, theoretical approaches, contemporary computers and their applications to different fields such as engineering software/hardware developments, science, computing techniques, aerospace, automobile, aeronautic, business, management, manufacturing,... etc. Front-edge research topics related to topology optimization, composite material design, numerical simulation of manufacturing process, advanced optimization algorithms, industrial applications of optimization methods are highly suggested. The scope includes, but is not limited to original research contributions, reviews in the following topics: Parameter identification & Surface Response (all aspects of characterization and modeling of materials and structural behaviors, Artificial Neural Network, Parametric Programming, approximation methods,…etc.) Optimization Strategies (optimization methods that involve heuristic or Mathematics approaches, Control Theory, Linear & Nonlinear Programming, Stochastic Programming, Discrete & Dynamic Programming, Operational Research, Algorithms in Optimization based on nature behaviors,….etc.) Structural Optimization (sizing, shape and topology optimizations with or without external constraints for materials and structures) Dynamic and Vibration (cover modelling and simulation for dynamic and vibration analysis, shape and topology optimizations with or without external constraints for materials and structures) Industrial Applications (Applications Related to Optimization, Modelling for Engineering applications are very welcome. Authors should underline the technological, numerical or integration of the mentioned scopes.).