东北大学学报（自然科学版）

东北大学学报(自然科学版) ›› 2011, Vol. 32 ›› Issue (4): 559-562.DOI: -

• 论著 • 上一篇    下一篇

直线倒立摆系统控制特性的影响因素分析与实验

罗忠;史志勇;胡鹏;柳洪义;   

  1. 东北大学机械工程与自动化学院;
  • 收稿日期:2013-06-19 修回日期:2013-06-19 发布日期:2013-04-04
  • 通讯作者: -
  • 作者简介:-
  • 基金资助:
    国家自然科学基金资助项目(50775031);;

Analysis and experimental investigation of factors affecting control characteristics of line inverted pendulum systems

Luo, Zhong (1); Shi, Zhi-Yong (1); Hu, Peng (1); Liu, Hong-Yi (1)   

  1. (1) School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, China
  • Received:2013-06-19 Revised:2013-06-19 Published:2013-04-04
  • Contact: Shi, Z.-Y.
  • About author:-
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摘要： 考虑倒立摆初始角度、系统控制参数与机械结构参数之间的关系,针对具有非线性、强耦合特性的典型多输入多输出倒立摆系统,建立了系统结构模型,阐述倒立摆控制原理.分析了最优控制的控制参数(如初始角度)与倒立摆结构参数(最大位移,最大加速等)的关系,得到了初始角度、系统控制参数对系统结构参数影响的关系表达式.结合实验研究发现,影响系统控制误差的因素包括齿形带的传动误差、小车和摆杆的惯性、齿形带轮的摩擦等.研究结果为倒立摆系统的控制以及其他相关系统的设计与分析,提供了理论依据和方法.

关键词: 倒立摆, 控制特性, 初始角度, 耦合

Abstract: Given the relationship between parameters of the mechanical parts and initial angle of an inverted pendulum, control parameters and a structural model of an inverted pendulum system was set up for a typical experimental system of nonlinear, strong coupling, and multi-input/output control, with its operational principles described. The relationship between control parameters of the optimum control strategy and the parameters of the mechanical parts was analyzed. The equation describing effect of the initial angle as well as the effect of system control parameters on parameters of the mechanical parts was determined. Results of combined experiments indicated that factors affecting system control error included tooth belt power transmission error, dolly and rocker arm inertia, and friction between tooth belt and sprocket. These results provide theory and methods for control of inverted pendulum systems as well as for analysis and design of and other related system.

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