도립막대 시스템의 LQ 제어기 설계

• 영문명: Design of a LQ Controller for an Inverted Pole System
• 발행기관: 한국해양대학교 해사산업연구소
• 저자명: 소명옥(Myung-Ok So) 오세준(Sae-June Oh) 유희한(Heui-Han Yoo) 남택근(Taek-Kun Nam) 강인철(In-Chul Kang) 이찬하(Chan-Ha Lee) 최한우(Han-Woo Choi)
• 간행물 정보: 『해사산업연구소논문집』제11집, 89~98쪽, 전체 10쪽
• 주제분류: 공학 > 해양공학
• 파일형태: PDF
• 발행일자: 2001.12.01

영문 초록

An Inverted Pole is one of the control mechanism that has been frequently used to verify a control theory in the laboratory. It consists of a cart which slides on a ground stainless steel shaft. This paper is to design a LQ controller for an inverted pole system which is capable of maintaining the pole at vertical position. In this scheme a mathematical model for the system is obtained in state space representation. Finally the effectiveness of the proposed controller is verified through computer simulation of an inverted pole system.

목차

Abstract

I. 서론

II. 도립막대 시스템의 모델링

III. LQ 제어기 설계

IV. 모의실험 및 결과 고찰

V. 결론

참고문헌