摘要
应用拉格朗日方法推导出环形二级倒立摆的数学模型,对该模型在其4个平衡位置处进行了线性化处理,得到了4个线性化状态方程,进而分别推导出4个平衡位置的能观性与能控性矩阵.利用Matlab软件建立了仿真模型,并进行了模型的正确性检验.
In this paper, the model of a Circular-Rail Double Inverted Pendulum is deduced by applying the Lagrange method; and four linearization state equations are obtained by the linearization of four equilibrium positions of the model to deduce the matrixes of observability and controllability of each equilibrium position. Finally, the validity＂ of this mathematic and simulation model is testified with the simulation model established with Matlab software.
出处
《重庆工学院学报》
2007年第21期7-16,共10页
Journal of Chongqing Institute of Technology
基金
国家自然科学基金资助项目(60574076)
关键词
倒立摆
数学模型
能观性
能控性
inverted Pendulum
mathematic model
observability
controllability
