摘要
基于拉格朗日动力学分析方法,推导出倒立摆的运动方程及旋转臂的控制关系式。在对系统进行可行的近似化处理后,分析得出了便于实现的简化能量控制规律。以倒立摆的回转角、角变化率及摆动趋势为控制输入量,采用模糊决策控制方法,通过调节旋转臂的转速、转向、角位移及转角变化率较好地达到了倒立摆的起振、摆动过程调节及平衡稳定状态保持的系统控制要求。通过系统实验,验证了该控制方法的可行性。
The movement equation of inverted-pendulum and the relation equation of its arms is deduced,based on the dynamic analysis of Lagrange. By feasible system approximation, the practicle energy control rules a given. Based on the control method of fuzzy decision, taking the inverted angle,angle changing rate and trend of swing as the inputs,the control demands such as rotary inverted-pendulum'start vibration, adjustable swing process and equilibrium state maintaining are successfully achieved. The control method is proved to be feasible by system experiment.
出处
《控制工程》
CSCD
2004年第4期335-337,共3页
Control Engineering of China
基金
国家专利项目(02251046.X)
关键词
模糊控制
旋转倒立摆
能量控制
线性化
rotary inverted-pendulum
fuzzy control
energy control
lineariation
