限位条件下直轨倒立摆摆起控制量的分析研究

Analysis and Research on the Controlling Quantity of the Straight Rail Inverted Pendulum under the Limiting Condition

目的研究直轨倒立摆在导轨限位条件下摆起控制问题,为倒立摆的摆起控制策略提供参考。方法利用达朗贝尔原理建立倒立摆在导轨限位下倒立摆的系统力学模型,根据现有的倒立摆数据在摆杆处于最低点进行短时加载计算,并从实验观测出发,以摆起终点为目标,对摆起控制量进行优化。结果对倒立摆系统进行短时加载,倒立摆系统经过14次正反向的加载,成功实现了在6.14 s内对倒立摆系统的摆起控制工作。结论直轨倒立摆在导轨限位条件下,对其进行短时加载,可以实现倒立摆的摆起控制,有效降低了倒立摆系统控制量出现冗余情况,提高了倒立摆系统的摆起控制效率。

This paper was proposed in order to study the swing control problem of the straight rail inverted pendulum under the limit of the guide rail,and to provide a reference for the control strategy of the inverted pendulum.The D'Alembert principle is used to establish the system mechanics model of the inverted pendulum under the limit of the guide rail.According to the existing inverted pendulum data,short-time loading calculations was performed at the lowest point of the pendulum bar,and was started from the experimental observations.The result showed that the inverted pendulum system was loaded for a short time.After 14 forward and reverse loadings,the inverted pendulum system successfully realized the control of the inverted pendulum system within 6.14 s.The conclusion is that the straight rail inverted pendulum is under the limit of the guide rail and loaded for a short time,which can realize the swing control of the inverted pendulum,effectively reduce the redundancy of the inverted pendulum system control amount,and improve the swing control efficiency of the inverted pendulum system.