线性二次型最优控制在双关节机械手中的应用

摘要

首先对双关节机械手系统建立数学模型并对此系统在平衡点处进行线性化处理,进而使用线性二次型最优控制的控制策略对双关节机械手系统进行控制,最后使用Matlab进行仿真以检验该控制系统的控制性能.阶跃输入下,系统能够在0.13 s完全跟踪.仿真结果表明其具有很好的响应能力及跟踪能力.%First,the thesis introduces math model systematically built by two-joint manipulator and linear processing conducted on the equilibrium point by the system.Then,the thesis introduces systematical con-trols to two-joint manipulator conducted by using optimum control strategies of linear quadratic type.At last,the thesis introduces control performance of the control system examined by using Matlab to conduct simulation.After step-input,the system can achieve full tracking in 0.13s.The simulation results indicate that it has good responsiveness and tracking ability.