摘要
分析了小车-二级倒立摆系统(CDPS)的运动特性,给出了数学模型;重点针对CDPS的各个运动阶段,提出了仿人智能控制策略,给出了相应的仿人智能控制算法;得出了仿真实验结果并进行了分析。
This paper analyze the motion characteristic of cart-double-pendulum system (CDPS) and gives out the mathematics model. According to each motion stage of CDPS, it presents the different human simulate intelligent control (HSIC) strategy, control algorithm, simulation results and detailed analysis.
出处
《自动化与仪器仪表》
2006年第5期1-5,20,共6页
Automation & Instrumentation
关键词
小车-二级倒立摆系统
仿人智能控制
控制策略
控制算法
Cart-double-pendulum system
Human Simulate Intelligent Control (HSIC)
Con-trol strategy
Control algorithm