摘要
二级倒立摆的两根摆杆有4个平衡点:Down-Down、Down-Up、Up-Down、Up-Up。针对旋转二级倒立摆从Down-Up平衡态转换到Up-Down平衡态的大范围非线性欠驱动控制问题(DU2UD),应用基于动觉智能图式的仿人智能控制理论,将DU2UD控制任务分解为初始扰动、摆起控制、姿态整定、稳摆控制4个子任务,并设计出各自关联图式、运动图式(控制器),构成多控制器与多控制模态的仿人智能控制器结构,并进行了实时控制实验,验证了所述方法的有效性。
Double inverted pendulum has four equilibrium points： Down-Down, Down-Up, Up-Down and Up- Up. To solve the nonlinear under-actuated control task of transfer from Down-Up equilibrium point to Up-Down equilibrium point （ DU2UD）, human simulated intelligent control （HSIC） theory is applied. The control process of DU2UD is divided into four phases： initial disturbance, swing up control from downward to upward, posture adjustment, and balance control at up-down equilibrium point. Sub-controller for each control phase is designed. With those sub-controllers, a control system which has structure of multi-controller and multi-controlmode is formed. The result of real-time control experiment testifies the validity of proposed method.
出处
《测控技术》
CSCD
北大核心
2013年第3期53-56,共4页
Measurement & Control Technology
基金
国家自然科学基金资助项目(60574076)
重庆市自然科学基金资助项目(2009BB3233)
关键词
二级倒立摆
多模态控制
仿人智能控制
double inverted pendulum
multi-mode control
human simulated intelligent control
