| 多级旋转式倒立摆的建模与分析 |
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| 引用本文： | 王永,孙颖娥,周烽. 多级旋转式倒立摆的建模与分析[J]. 电机与控制学报, 2004, 8(3): 258-262 |
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| 作者姓名： | 王永 孙颖娥 周烽 |
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| 作者单位： | 中国科学技术大学,自动化系,安徽,合肥,230027 |
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| 摘 要： | 运用刚体的动力学知识对多级旋转式倒立摆系统进行了动力学分析,归纳其规律性,并推导出旋臂及各级摆杆的运动微分方程,从而获得任意级旋转式倒立摆的非线性数学模型。文中还对旋转式倒立摆系统进行了能控性分析。最后利用MATLAB对一级、二级旋转式倒立摆的控制进行了仿真,并得到较好的仿真结果。
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| 关 键 词： | 旋转式倒立摆 任意级 动力学 数学模型 仿真 相对能控性 |
| 文章编号： | 1007-449X(2004)03-0258-05 |
| 修稿时间： | 2004-05-16 |
Modeling and analysis of the multiple rotational inverted pendulum |
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| WANG Yong,SUN Ying-e,ZHOU Feng Dept.of Antomation,University of Science and Technology of China,Hefei ,China. Modeling and analysis of the multiple rotational inverted pendulum[J]. Electric Machines and Control, 2004, 8(3): 258-262 |
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| Authors: | WANG Yong SUN Ying-e ZHOU Feng Dept.of Antomation University of Science Technology of China Hefei China |
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| Affiliation: | WANG Yong,SUN Ying-e,ZHOU Feng Dept.of Antomation,University of Science and Technology of China,Hefei 230027,China |
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| Abstract: | In this paper, the differential equations of motion for n-level rotational inverted pendulum is obtained byusing the knowledge of rigid body dynamics, and we derive the nonlinear mathematical model of system based onabove result. Then the controllability of the system is analyzed. Finally, a simulation experiment is done underMATLAB environment. The simulation result shows that the control on one or double rotational inverted pendulumhas good performance. |
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| Keywords: | rotational inverted pendulum arbitrary level dynamics mathematical model simulation relative controllability |
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