摘要
文章研究两轮移动式倒立摆的运动控制问题,系统有两个位于同一轴线驱动轮;控制目标是移动式倒立摆在二维平面内按指定的移动速度和转动角速度运动,并且保持摆杆平衡;利用状态反馈和输出反馈,构造闭环系统的状态空间方程,通过极点配置求得控制量;仿真结果显示,系统跟踪速度快、超调量小,同时验证了控制算法的有效性。
The paper deals with the motion of a two-wheel mobile inverted pendulum, which has two independent driving wheels in the same axle. The purpose is to make the mobile inverted pendulum move at the reference translational speed and rotational speed in the two-dimensional plane while keeping its link being balanced. The state-space function of the closed-loop system is estabished through state feedback and output feedback and the input is deduced from pole placement. The simulation result shows the high tracking ,speed and small overshoot and the effectiveness of the proposed algorithm.
出处
《合肥工业大学学报（自然科学版）》
CAS
CSCD
北大核心
2005年第11期1485-1488,共4页
Journal of Hefei University of Technology：Natural Science
关键词
移动式倒立摆
运动控制
状态反馈
极点配置
mobile inverted pendulum
motion control
state feedback
pole placement
