旋转式倒立摆计算机控制系统  

A computer control system for arm-driven inverted pendulum

作　　者：程俊[1] 王永[1] 黄南晨[1] 吴刚[1] 卿志远[1] 孙德敏[1] 

机构地区：[1]中国科学技术大学自动化系,安徽合肥230027

出　　处：《电机与控制学报》2001年第4期277-280,共4页Electric Machines and Control

摘　　要：研究了一种新型的倒立摆系统，该装置是由连在直流力矩电机转轴上的驱动臂和能自由旋转的摆杆构成，驱动臂在电机的作用下能在垂直平面内旋转，通过驱动臂的转动来保持摆杆稳定在平衡位置。运用动力学原理建立了该系统的数学模型，在此基础上借助于计算机辅助设计软件，进行了仿真研究，设计出控制律，最后实现旋转式倒立摆计算机控制。In this paper a new arm-driven inverted pendulum (ADIP) is presented. Thedevice is made up of a pendulum and a rotated arm. The pendulum is the top link and is driven by the rotated arm, which is connected to a motor. The pendulum and the rotated arm can rotate in vertical plane. The mathematical model is established and linearized at its balanced points, then a state feedback controller is designed using continuous system's pole arranging. The simulation of the controller is acquired under the environment of MATLAB SIMULINK. At last, real time control of ADIP is accomplished.

关 键 词：旋转式倒立摆 状态反馈 实时控制 计算机控制系统 

分 类 号：TP273.5[自动化与计算机技术—检测技术与自动化装置]