直线柔性连接两级倒立摆建模与自由运动仿真  

Modeling of Linear Spring-Connected Double Inverted Pendulum System and Simulating of Free Motion

作　　者：侯祥林[1] 张宁[2] 

机构地区：[1]沈阳建筑大学理学院,辽宁沈阳110168 [2]沈阳建筑大学土木工程学院,辽宁沈阳110168

出　　处：《沈阳建筑大学学报（自然科学版）》2009年第5期934-937,共4页Journal of Shenyang Jianzhu University：Natural Science

基　　金：辽宁省自然科学基金项目(20072011)

摘　　要：目的建立具有柔性连接的倒立摆力学模型,并进行倒立摆自由摆动过程的仿真分析,为给出有效的精确控制方法提供条件.方法以直线柔性连接二级倒立摆系统为研究对象,应用动力学原理,推导直线柔性连接二级倒立摆系统的微分方程,结合Runge-Kutta数值积分法对非线性微分方程求解,编制具有一定初始条件的倒立摆各构件运动过程的计算程序.结果获得较为准确的倒立摆力学模型,并通过自由摆动过程的求解表明其有效性.结论为进一步良好的摆起和平衡控制打下基础.This paper aims to establish a mechanical model of linear spring-connected inverted pendulum and to make simulating analysis of inverted pendulum free swing in order to acquire an effective and accurate control method. Based on dynamics principles, with linear spring-connected double inverted pendulum system as a research subject, the differential equations are deduced. Combining solving nonlinear differential equa- tions with Runge-Kutta numerical integrating, a computational procedure about movement of the inverted pendulum is programmed with initial conditions. The result is that an exact mechanical model is obtained and its validity is shown by solution and it is used to lay the root for better swing up and balance control.

关 键 词：柔性连接倒立摆 微分方程 自由摆动 仿真 

分 类 号：O328[理学—一般力学与力学基础]