Design of DC motor position tracking system based on LQR

Abstract

In order to realize the accurate tracking of the desired position by the DC motor position tracking system, a control method of the DC motor position tracking system based on LQR was proposed. Based on the modeling of the DC motor position tracking system, the stability, controllability and observability of the system are analyzed. Then, the LQR optimal control theory and the design process of the controller are introduced, and the output angular position of the DC motor is taken as the control object, and several common control methods are compared with the controller algorithm designed in this paper through MATLAB software. Experimental results show that the designed controller algorithm can track the desired position, and the system also has the characteristics of short adjustment time, small overshoot and high tracking accuracy.