摘要
针对倒立摆控制系统中需要建立复杂的数学模型问题,提出一种利用加速度计和陀螺仪进行倒立摆姿态检测和控制的惯性测量方法。为准确获取轮式倒立摆的姿态信息,采用自适应互补滤波算法对两种惯性传感器的测量数据进行融合,并将控制方案在设计的轮式倒立摆装置上进行了实验测试。实验数据表明,利用惯性测量和自适应互补滤波算法的方案无需建立复杂的倒立摆数学模型,同样可以准确可靠的获取倒立摆的姿态信息,实现倒立摆的姿态控制。
Aiming at problematic complexity of mathematical modeling in inverted pendulum control sys- tem, an inertial measurement method is brought forward. To reduce the error of attitude estimation, an a- daptive complementary filter algorithm is adopted to fuse the data from inertial sensors, and the control scheme is tested in inverted pendulum equipment. The experimental data show that without complex mathematical model, the inverted pendulum＇ s attitude information can be obtained faithful with the method of inertial measurement and adaptive complementary algorithm filter.
出处
《组合机床与自动化加工技术》
北大核心
2014年第6期66-68,共3页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国家自然科学基金资助项目(61304013)
关键词
倒立摆
姿态控制
惯性测量
自适应互补滤波器
inverted pendulum, attitude control, inertial measurement, adaptive complementary filter
