| 双轮共轴移动式倒立摆动力学建模与状态反馈控制 |
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| 引用本文： | 王凯,王士敏.双轮共轴移动式倒立摆动力学建模与状态反馈控制[J].动力学与控制学报,2007,5(2):153-158. |
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| 作者姓名： | 王凯 王士敏 |
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| 作者单位： | 北京航空航天大学理学院控制与系统科学系,北京,100083 |
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| 基金项目： | 国家自然科学基金资助项目(10672006)~~ |
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| 摘 要： | 应用第一类拉格朗日方法对系统进行力学分析,建立了以电机转矩为输入且轮在轴向无滑移的非完整约束下系统的数学模型.双轮共轴移动式倒立摆的运动控制目标是移动式倒立摆在二维平面内按指定的方向和速度运动,同时保持摆杆平衡.利用状态反馈,构造闭环系统的状态方程,通过极点配置求得控制量.仿真结果验证了系统状态方程的正确性和控制方法的合理性.
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| 关 键 词： | 非完整约束 移动式倒立摆 拉格朗日方程 状态反馈 极点配置 仿真 |
| 收稿时间： | 2006/10/10 0:00:00 |
| 修稿时间： | 2006-10-102007-02-02 |
Dynamic motion and state feedback control of a two wheeled coaxial mobile inverted pendulum |
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| Wang Kai and Wang Shimin.Dynamic motion and state feedback control of a two wheeled coaxial mobile inverted pendulum[J].Journal of Dynamics and Control,2007,5(2):153-158. |
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| Authors: | Wang Kai and Wang Shimin |
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| Affiliation: | School of Science, Beijing University of Aeronautics and Astronautics, Beijing 100083, China |
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| Abstract: | A two-wheeled coaxial inverted pendulum system was derived using the wheel motor torques as inputs and taking the nonholonomic no-slip constraints into account by Lagrange method.The purpose was to make the mobile inverted pendulum move at the reference translational speed and rotational speed in the two-dimensional plane while keeping its link balanced.The state-space function of the closed-loop system was established through state feedback,and the input was deduced from the pole placement.The simulation result shows the validity of the system's state equation and the reasonableness of the control method. |
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| Keywords: | nonholonomic mobile inverted pendulum Lagrange method state feedback pole placement emulation |
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