| 基于飞轮的单级倒立摆系统的建模与仿真 |
| |
| 引用本文： | 阮晓钢,王昱峰.基于飞轮的单级倒立摆系统的建模与仿真[J].控制工程,2011,18(6):877-880,904. |
| |
| 作者姓名： | 阮晓钢 王昱峰 |
| |
| 作者单位： | 北京工业大学 人工智能与机器人研究所,北京,100124 |
| |
| 基金项目： | 国家“863计划”项目(2007AA04Z226); 国家自然科学基金项目(60774077); 北京市教委和北京市自然科学基金重点项目(KZ200810005002); 北京市人才强教计划项目 |
| |
| 摘 要： | 针对目前融轮机器人的侧向平衡控制问题,设计了一种基于飞轮的单级倒立摆系统.简单地介绍了目前有关倒立摆系统的研究现状,然后利用拉格朗日方法建立了基于飞轮的单级倒立摆系统的数学模型,同时,对所建立的数学模型(精确模型和线性化模型)在Matlab/Simulink中进行了仿真验证,仿真结果证实了所建立的模型是可信的,并用现代...
|
| 关 键 词： | 倒立摆系统 拉格朗日 最优控制 |
Modelling and Simulation for Single Inverted Pendulum System Based on Flywheel |
| |
| RUAN Xiao-gang
,
WANG Yu-feng.Modelling and Simulation for Single Inverted Pendulum System Based on Flywheel[J].Control Engineering of China,2011,18(6):877-880,904. |
| |
| Authors: | RUAN Xiao-gang WANG Yu-feng |
| |
| Affiliation: | RUAN Xiao-gang,WANG Yu-feng(Artificial Inteligenceand Robot Institute,Beijing University of Technology,Beijing 100124,China) |
| |
| Abstract: | To the lateral balance control problem of single wheel robot,a single inverted pendulum system based on flywheel is designed.The research status of inverted pendulum system is introduced simply.The mathematical model of a single inverted pendulum based on a flywheel is established by using the Lagrange equation.The simulation results using Matlab/Simulink tools show that the proposed mathematical model is believable.The LQR method in modern control theory is introduced to realize the optimal control of the ... |
| |
| Keywords: | inverted pendulum system Lagrange equation optimal control |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
|
