摘要
对只有一个摆杆的单摆的甩起过程进行了研究。在能量分析的基础上,给出了一次摆动的前后角度边界和一次摆动时间最短轨迹的解析分析。基于时间最短一次摆动给出了搜索时间优化甩起轨迹的数值计算方法,该方法需要搜索的变量数等于甩起摆动次数减一,计算量较小。文中给出了两次摆动和三次摆动甩起的时间优化轨迹的计算结果。
The swing-up problem of single pendulum is discussed. Forward and backward angle bound of a swing and the fast swing track are presented based on energy analysis. Based on fast swing the computation method of time optimal swing up a pendulum from pendant stable equilibrium to upright unstable equilibrium is presented. The number of variables needed to search is one less than the number of swings. Computation results of swing up by 2 swings and 3 swings are given as well.
出处
《系统仿真学报》
CAS
CSCD
2004年第5期1034-1037,共4页
Journal of System Simulation
基金
自然科学基金(60074021)
关键词
倒立摆
甩起
最短时间控制
非线性控制
inverted pendulum
swing-up
minimum time control
nonlinear control.
