直线柔性连接两级倒立摆系统建模  

Modeling of Linear Spring-Connected Double Inverted Pendulum System

作　　者：吴昊[1] 秦志强 朱学峰[1] 史步海[1] 向少华[1] 

机构地区：[1]华南理工大学自动化科学与工程学院,广东广州510640 [2]固高科技(深圳)有限公司,广东深圳518057

出　　处：《计算机测量与控制》2004年第4期352-354,357,共4页Computer Measurement &Control

摘　　要：倒立摆系统是一个复杂的、非线性的、不稳定的高阶系统。倒立摆的控制一直是控制理论及应用的典型课题,而实施有效控制的关键是对该系统进行建模。在对倒立摆系统进行了概要的介绍后,详述了如何利用拉格朗日方程对直线柔性连接两级倒立摆建模。科研人员可基于此模型研发各种控制策略。The inverted pendulum system is a complicated, nonlinear, unstable system of high order, the stability of that is a typical problem to the application of modern control theory. The key for controlling this system is the modeling.At first, the introduction about Inverted Pendulum system is presented, then in this paper the modeling of linear spring-connected double inverted pendulum system by using Lagrange equation is described in detail. Based on the model, researchers can design diverse control strategies.

关 键 词：控制理论 控制策略 直线柔性连接两级倒立摆系统 建模 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]