| 在倾斜轨道上的平行倒立摆的数字控制 |
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| 引用本文： | 张凤登.在倾斜轨道上的平行倒立摆的数字控制[J].控制理论与应用,1989,6(1):89-94. |
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| 作者姓名： | 张凤登 |
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| 作者单位： | 上海机械学院计算机工程系 |
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| 摘 要： | 本文介绍了一个小车放在倾斜轨道上的平行倒立摆数字控制系统。控制器的设计是以线性伺服控制理论为基础的,它不仅能够消除由于轨道倾斜所带来的扰动,也能使系统跟踪其设定信号,使小车稳定在参考位置上。文章中给出了平行摆系统的理论分析和实际控制结果。
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| 关 键 词： | 平行 倒立摆 P1调节器 数字控制 |
| 收稿时间： | 1987/12/8 0:00:00 |
| 修稿时间： | 1988/6/29 0:00:00 |
Digital Control of a Parallel Inverted Pendulum on an Inclined Rail |
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| Zhang Fengdeng.Digital Control of a Parallel Inverted Pendulum on an Inclined Rail[J].Control Theory & Applications,1989,6(1):89-94. |
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| Authors: | Zhang Fengdeng |
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| Affiliation: | Department of Computer Engineering, Shanghai Institute of Mechanical Engineering |
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| Abstract: | The control system design for a parallel inverted pendulum on an inclined rail has been successfully implemented. The control law includes the integration term which not only eliminates the constant disturbance due to the inclined rail but also assures the cart of following the given reference position. Theoretical analysis of the pendulum system and the control results are given. |
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