www.gusucode.com > 二级倒立摆的建模及仿真simulink源码程序 > code/倒立摆/参数求解.txt
>> m0=1.328; >> m1=0.22; >> m2=0.187; >> j1=0.004963; >> j2=0.004824; >> l1=0.304; >> l2=0.226; >> ll1=0.49; >> f0=22.915; >> f1=0.00705; >> f2=0.00264;g0=11.887; >> m=[m0+m1+m2,m2*ll1+m1*l1,m2*l2;m2*l1+m1*l1,j1+m1*l1^2+m2*ll1^2,m2*ll1*l2;m2*l2,m1*ll1*l2,j2+m2*l2^2] m = 1.7350 0.1585 0.0423 0.1237 0.0702 0.0207 0.0423 0.0244 0.0144 >> f=[-22.915,0,0;0,-0.00969,0.00264;0,0.00264,-0.00264] f = -22.9150 0 0 0 -0.0097 0.0026 0 0.0026 -0.0026 >> n=[0 0 0;0 (m2*ll1+m1*l1)*10 0;0 0 m2*l2*10] n = 0 0 0 0 1.5851 0 0 0 0.4226 >> t=[1 0 0;0 1 0;0 -1 1] t = 1 0 0 0 1 0 0 -1 1 >> a21=t*inv(m)*n*inv(t) a21 = 0 -2.5147 0.1819 0 32.3198 -17.6722 0 -50.3025 76.4870 >> a22=t*inv(m)*f*inv(t) a22 = -15.7473 0.0120 -0.0056 28.1980 -0.2223 0.1937 -29.6917 0.5639 -0.6890 >> g=[g0;0;0] g = 11.8870 0 0 >> b2=t*inv(m)*g b2 = 8.1688 -14.6275 15.4024 >> a=[zeros(3) eye(3);a21 a22] a = 0 0 0 1.0000 0 0 0 0 0 0 1.0000 0 0 0 0 0 0 1.0000 0 -2.5147 0.1819 -15.7473 0.0120 -0.0056 0 32.3198 -17.6722 28.1980 -0.2223 0.1937 0 -50.3025 76.4870 -29.6917 0.5639 -0.6890 >> b=[0;0;0;b2] b = 0 0 0 8.1688 -14.6275 15.4024 >> c=[eye(3) zeros(3)] c = 1 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 >> q=diag([1.6 1.6 1.6 1.6 1.6 1.6]) q = 1.6 0 0 0 0 0 0 1.6 0 0 0 0 0 0 1.6 0 0 0 0 0 0 1.6 0 0 0 0 0 0 1.6 0 0 0 0 0 0 1.6 >> r=0.8 r = 0.8 >> k=lqr(a,b,q,r) k = 1.4142 6.8843 80.8552 1.6163 9.4257 10.8052