二级倒立摆在受控情况下的运动稳态分析

通过对二级倒立摆系统物理结构的分析,总结了二级倒立摆系统在受控稳定状态下可能出现的各种运动状态。在由单电机控制的二级倒立摆稳定的基础上,分析控制倒立摆系统稳定的控制量与系统稳定运动状态之间存在的关系。通过实验,得到了两级摆杆之间的3种在受控稳定下的具体运动状态,证明了二级倒立摆的运动状态与系统控制中的某些参数存在着明显的关联,并且为从理论上分析这些运动状态和控制参数之间的关系提供了一定的依据。

Stabile Movement State Analysis of Double Inverted Pendulum Under Control

By analyzing the physics structure of double inverted pendulum, the stable movement states of controlled double inverted pendulum system is summarized. On the basis, that this system can be stabilized successfully with a single motor is concluded, the relationship between the control measures is analyzed and the stable movement states are given. From the experiment, three of the concrete stable movement states of double inverted pendulum are obtained, and it is testified that there are obvious relationships between some control measures and the stable movement states. Also from the experiment result, some evidence is provided for further theoretical study.