一种双惯性轮空间倒立摆及其动力学建模和分析

Double Inertia Wheel Spatial Inverted Pendulum and Its Modeling and Dynamic Analysis

针对现有的惯性轮倒立摆在模拟多自由度不稳定系统的局限性,提出了一种双惯性轮空间倒立摆系统,其具有四个自由度和两个控制量,可同时模拟不稳定系统俯仰和滚转姿态控制;运用拉格朗日方法建立了双惯性轮空间倒立摆的动力学模型,分别采用模型退化、数值仿真验证了所建立的模型的正确性,并分析了双惯性轮空间倒立摆的动力学特性;建立的双惯性轮空间倒立摆可应用于多自由度非平稳系统的模拟实验,提出的物理结构、模型和相关分析结论为双惯性轮空间倒立摆系统的进一步研究奠定了理论基础。

Aiming at limitations of inertia wheel inverted pendulum in simulatingofmulti--freedom and unstable systems. A novel DIW- SIPS （double inertia wheel spatial inverted pendulum system） was proposed, which have four freedom and two control variables. A DIW- SIPS can be used in attitude control simulation both for pitch and roll simultaneousfor unstable systems. A dynamics model of DIWSIPS was derived from Lagrange equation. The correctness of the model was verified by model degradation and numerical simulation. And the dynamic characteristics of the DIWSIPS has been analyzed based on the dynamic model. The DIWSIPS can be used in simulation experiments of multi --degree of freedom unstable system. The proposed physical structure, dynamic model and analysis results provided theoretical basis for re- search of the DIWSIPS.