平行单级双倒立摆系统的建模与滑模变结构控制

The modeling and research for parellel-type inverted pendulum

从两摆间无弹簧连接的平行双倒立摆系统特定物理结构出发,结合控制目标进行合理建模与分析,验证所建模型可行性,讨论系统能控性和参数间的关系,并设计了滑模变结构控制律。该文的理论和方法对平行单级双倒立摆的进一步研究工作具有重要意义。

Based on the specific physical structure, which combined the control objective, it validated the feasibility and discussed the relations between the controllability and the parameters through the rationality model for the parallel-type inverted pendulum without springs. The sliding mode control law is designed in this paper also. The theory and method has the advantage to refer in the further study of parallel-type inverted pendulum.