一种镇定倒立摆系统的新方法

A New Method for Stabilization of Inverted Pendulum System

在对倒立摆系统深入分析的基础上，应用振荡控制理论提出一种镇定倒立摆系统的新方法。通过在倒上摆支承点的垂直方向上加入一个零均值的高频振荡信号，改善了倒立摆系统本身的稳定性，使其在倒立位置附近成为一振荡稳定系统。理论分析和仿真研究表明这种方法是行之有效的，为研究倒立摆一类自不稳定系统开辟了一条新的途径。

In this work, on the bases of deeply analysing.the inverted Pendulum system, a new method for stabilization of inverted pendulun system is proposed according to vibrational control theory. The stability of the inverted pendulum system is improved by introducing a high frequency signal with the average value equal to zero in the vertical direction of the bearing POint of the inverted pendulum, and then the inverted pendulum become vibrational stable at the inverted position. Theoretical analysis and simulation results show the validity of the method, A new way for studing a class of unstable system such as inverted pendulum is opened up.