倒立摆系统的运动模态分析

Stable Dynamic Mode of Inverted Pendulum Systems

提出倒立摆系统在受控稳定状态下的运动模态概念 .通过对倒立摆系统物理结构的分析 ,归纳出由单电机控制的单倒立摆、二级倒立摆和三级倒立摆系统在受控稳定状态下可能出现的主要运动模态 .在以数控方式实现由单电机成功控制单倒立摆、二级倒立摆和三级倒立摆系统稳定的基础上 ,分析控制倒立摆系统稳定的控制律反馈增益系数与系统稳定运动模态之间存在的关系 .

A concept about the dynamic mode of an inverted pendulum system when it is stabilized was proposed. The main dynamic modes of single, double and triple inverted pendulum systems with a single motor were concluded through analyzing their physical structure. On the basis that these systems can be stabilized successfully, relations between the coefficients of control law and the main dynamic modes were given. Experiments show that these dynamic modes do exist and can be changed from one to another on line while an inverted pendulum system is stabilized.