摘要
在分析永磁同步电动机和单维倒立摆数学模型的基础上,将永磁同步电动机的驱动性能与倒立摆的动态特性综合考虑,采用双闭环PID控制,实现了倒立摆系统的稳定和跟踪控制。仿真结果证明了该控制方法的有效性。
On the basis of analysis of mathematical model of permanent magnet synchronous motor(PMSM) and single inverted pendulum,the drive performance of PMSM and the dynamic characteristics of inverted pendulum were comprehensive considered.Double-loop PID control was adopted for stabilizing and tracking control of the inverted pendulum system.The simulation results prove the effectiveness of the control model.
出处
《杭州电子科技大学学报（自然科学版）》
2009年第6期78-82,共5页
Journal of Hangzhou Dianzi University：Natural Sciences
基金
浙江省自然科学基金资助项目(Y1080222)
