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倒立摆是控制领域一个经典的实验对象,其系统本身是计算机、机器人、传感器、控制等多种技术的有机结合。由于倒立摆系统本身具有不稳定性、高阶次、多变量、非线性和强耦合等特性,对其进行控制可以形象直观的反映控制器的控制效果。倒立摆作为一个典型的教学和研究设备,可以用于实现各种已有的控制理论和方法,也可以作为新的理论和控制方法的检验工具。同时,倒立摆控制和火箭的姿态控制以及步行机器人的稳定控制有很多相似之处,基于倒立摆实验产生的理论和方法在实际中也将有很多应用。本论文对基于2-DOF(Degree of freedom)倒立摆进行了运动学和动力学分析,得到它的状态方程。
Inverted pendulum is a classical experimental object in the field of control. The system itself is an organic combination of various technologies such as computer, robot, sensor and control. Due to its inherent instability, high-order, multivariable, nonlinear and strong coupling characteristics, the inverted pendulum system can control the performance of the controller intuitively and intuitively. Inverted pendulum as a typical teaching and research equipment, can be used to achieve a variety of existing control theory and methods, but also can be used as a new theoretical and control methods of testing tools. At the same time, there are many similarities between inverted pendulum control, attitude control of rocket and steady control of walking robot. The theory and method based on inverted pendulum experiment will also have many applications in practice. In this paper, based on the 2-DOF (Degree of freedom) inverted pendulum kinematics and dynamics analysis, get its state equation.