小车二级摆摆起控制器设计

研究了小车二级并行摆系统及小车二级串行摆系统的摆起控制器设计问题,并给出了这两种系统的实验结果.首先,针对上述两种系统,设计了两步控制器,即1)摆起双摆达到倒立稳摆位置的控制器,2)进行稳摆控制的控制器.其次,由于小车二级摆位移受轨道长度限制,又考虑了小车位移的控制问题.上述两种实际系统的摆起及稳摆成功,验证了所提出设计方法的有效性.

Swing-up controller design for cart-type double inverted pendulum

This paper presents experimental results of swing-up controller designs for a parallel cart-type double inverted pendulum and a serial cart-type double inverted pendulum.The proposed control scheme for the two kinds of cart-type double inverted pendulum involves two steps:1) to swing up the two pendulums,2) to stabilize the two pendulums around the unstable equilibrium state.Since the pendulums are cart-type,this paper gives an analysis of traveling distance of the cart and the proposed controller also includes a controller to restrict the traveling distance of the cart.Experiments presented include the above two steps for each cart-type double inverted pendulum.