摘要
运用刚体的动力学知识对多级旋转式倒立摆系统进行了动力学分析,归纳其规律性,并推导出旋臂及各级摆杆的运动微分方程,从而获得任意级旋转式倒立摆的非线性数学模型。文中还对旋转式倒立摆系统进行了能控性分析。最后利用MATLAB对一级、二级旋转式倒立摆的控制进行了仿真,并得到较好的仿真结果。
In this paper, the differential equations of motion for n-level rotational inverted pendulum is obtained by
using the knowledge of rigid body dynamics, and we derive the nonlinear mathematical model of system based on
above result. Then the controllability of the system is analyzed. Finally, a simulation experiment is done under
MATLAB environment. The simulation result shows that the control on one or double rotational inverted pendulum
has good performance.
出处
《电机与控制学报》
EI
CSCD
北大核心
2004年第3期258-262,共5页
Electric Machines and Control
关键词
多级旋转式倒立摆
建模
非线性数学模型
反馈控制
rotational inverted pendulum
arbitrary level
dynamics
mathematical model
simulation
relative controllability
