基于VRML的倒立摆三维仿真

A Three-dimensional Simulation of Inverted Pendulum Based Virtual Reality Modeling Language

传统方法分析动态系统抽象而且繁琐,本文利用虚拟现实技术的编辑系统VrmlPad和软件平台VRML语言,建立倒立摆的三维虚拟场景。通过Matlab的虚拟现实工具箱将虚拟倒立摆的三维场景与Simulink中倒立摆的仿真模型连接起来,采用PID算法对倒立摆进行控制,实验结果实现了逼真的可视化和交互性仿真。整个设计分析过程较传统方法直观。

Traditional methods for analysing dynamical systems are abstract and cumbersome. The article utilizes VrmlPad and Virtual Reality Modeling Language which are an editing system and a software platform of Virtual Reality Technology for modeling inverted pendulum three - dimensional virtual scene. The Virtual Reality Toolbox of Matlab connects inverted pendulum virtual scene with inverted pendulum simulation model in Simulink, meanwhile,PID algorithm is used for the inverted pendulum control. The experimental results realize the realistic visualization and interactive simulation very well. The overall design and analysis than traditional methods become clear and intuitive.