摘要
针对倒立摆的起摆控制,建立了环形单级倒立摆基于拉格朗日方程的运动方程,在此基础上提出了能量控制的概念,并将能量补偿控制应用在环形单级倒立摆系统上.仿真和实际控制结果表明了所提出方法的有效性和可行性.
The swing-up control of an inverted pendulum is investigated in the paper. The equation of motion of the rotary inverted pendulum is established based on Lagrange method. The concept of energy control is presented and energy compensation control is applied to swing up the rotary inverted pendulum. Both the simulation and the real time control results prove the effectiveness and feasibility of the control strategy.
出处
《江南大学学报（自然科学版）》
CAS
2004年第5期482-485,共4页
Joural of Jiangnan University (Natural Science Edition)
关键词
环形倒立摆
运动方程
起摆控制
能量补偿
rotary inverted pendulum
equation of motion
swing-up control
energy compensation
