摘要
自行设计了二级倒立摆硬件系统,完成了机械部分与电路部分的总体设计、加工、组装和调试。自行设计并制作了倒立摆系统控制盒,利用控制盒实现了对角度、位移等状态变量信息的滤波、处理与控制指令的输出。利用Lagrange方法建立了二级倒立摆系统的完整数学模型,同时利用滑动模态变结构控制算法设计了相应的控制率,基于V isualStud io6.0环境编写了控制算法,成功的实现了对于二级倒立摆系统的稳定控制。
The hardware of double inverted pendulum is designed, the mechanism and electrocircuit part are designed, machined, manufactured and debugged. The control box of the double inverted pendulum is designed, the variables of the angles and displacement are filtered and processed, and the control instructions are generated inside the control box. Modeling the double inverted pendulum with Lagrange function, and a sliding mode variable structure controller is designed, the control law based on the Visual Stuidio6.0 environment is programmed to successfully stabilize the double inverted pendulum.
出处
《计算机仿真》
CSCD
2006年第11期340-344,共5页
Computer Simulation
关键词
二级倒立摆
变结构控制
稳定控制
Double inverted pendulum
Variable structure control
Stability control
