版權(quán)說明:本文檔由用戶提供并上傳,收益歸屬內(nèi)容提供方,若內(nèi)容存在侵權(quán),請進(jìn)行舉報或認(rèn)領(lǐng)
文檔簡介
1、第 1 頁Control of an Inverted PendulumJohnny LamAbstract: The balancing of an inverted pendulum by moving a cart along a horizontal track is a classic problem in the area of control. This paper will describe two methods to
2、 swing a pendulum attached to a cart from an initial downwards position to an upright position and maintain that state. A nonlinear heuristic controller and an energy controller have been implemented in order to swing th
3、e pendulum to an upright position. After the pendulum is swung up, a linear quadratic regulator state feedback optimal controller has been implemented to maintain the balanced state. The heuristic controller outputs a re
4、petitive signal at the appropriate moment and is finely tuned for the specific experimental setup. The energy controller adds an appropriate amount of energy into the pendulum system in order to achieve a desired energy
5、state. The optimal state feedback controller is a stabilizing controller based on a model linearized around the upright position and is effective when the cart-pendulum system is near the balanced state. The pendulum has
6、 been swung from the downwards position to the upright position using both methods and the experimental results are reported.1. INTRODUCTION The inverted pendulum system is a standard problem in the area of control syste
7、ms. They are often useful to demonstrate concepts in linear control such as the stabilization of unstable systems. Since the system is inherently nonlinear, it has also been useful in illustrating some of the ideas in no
8、nlinear control. In this system, an inverted pendulum is attached to a cart equipped with a motor that drives it along a horizontal track. The user is able to dictate the position and velocity of the cart through the mot
9、or and the track restricts the cart to movement in the horizontal direction. Sensors are attached to the cart and the pivot in order to measure the cart position and pendulum joint angle, respectively. Measurements are t
10、aken with a quadrature encoder connected to a MultiQ-3 general purpose data acquisition and control board. Matlab/Simulink is used to implement the controller and analyze data. The inverted pendulum system inherently has
11、 two equilibria, one of which is stable while the other is unstable. The stable equilibrium corresponds to a state in which the pendulum is pointing downwards. In the absence of any control force, the system will natural
12、ly return to this state. The stable equilibrium requires no control input to be achieved and, thus, is uninteresting from a control perspective. The unstable equilibrium corresponds to a state in which the pendulum point
13、s strictly upwards and, thus, requires a control force to maintain this position. The basic control objective of the inverted pendulum problem is to maintain the unstable equilibrium position when the pendulum initially
14、starts in an upright position. The control objective for this project will focus on starting from the stable equilibrium position (pendulum pointing down), swinging it up to the unstable equilibrium position (pendulum up
15、right), and maintaining this state.第 3 頁Let the state vector be defined as:Finally, we linearize the system about the unstable equilibrium(0 0 0 0) T.Note that θ = 0 corresponds to the pendulum being in the upright posit
溫馨提示
- 1. 本站所有資源如無特殊說明,都需要本地電腦安裝OFFICE2007和PDF閱讀器。圖紙軟件為CAD,CAXA,PROE,UG,SolidWorks等.壓縮文件請下載最新的WinRAR軟件解壓。
- 2. 本站的文檔不包含任何第三方提供的附件圖紙等,如果需要附件,請聯(lián)系上傳者。文件的所有權(quán)益歸上傳用戶所有。
- 3. 本站RAR壓縮包中若帶圖紙,網(wǎng)頁內(nèi)容里面會有圖紙預(yù)覽,若沒有圖紙預(yù)覽就沒有圖紙。
- 4. 未經(jīng)權(quán)益所有人同意不得將文件中的內(nèi)容挪作商業(yè)或盈利用途。
- 5. 眾賞文庫僅提供信息存儲空間,僅對用戶上傳內(nèi)容的表現(xiàn)方式做保護(hù)處理,對用戶上傳分享的文檔內(nèi)容本身不做任何修改或編輯,并不能對任何下載內(nèi)容負(fù)責(zé)。
- 6. 下載文件中如有侵權(quán)或不適當(dāng)內(nèi)容,請與我們聯(lián)系,我們立即糾正。
- 7. 本站不保證下載資源的準(zhǔn)確性、安全性和完整性, 同時也不承擔(dān)用戶因使用這些下載資源對自己和他人造成任何形式的傷害或損失。
最新文檔
- 倒立擺的控制外文翻譯
- 倒立擺的控制外文翻譯
- 倒立擺的控制外文翻譯.doc
- 倒立擺的控制外文翻譯.doc
- 倒立擺外文翻譯
- 外文翻譯--倒立擺原稿
- 外文翻譯--倒立擺的平衡器
- 外文翻譯--倒立擺的控制最合適的算法 中文版
- 畢業(yè)設(shè)計(論文)外文資料翻譯----倒立擺
- 單級倒立擺畢業(yè)設(shè)計外文翻譯
- 倒立擺課程設(shè)計--倒立擺系統(tǒng)的控制器設(shè)計
- 倒立擺系統(tǒng)的擺動控制
- 旋轉(zhuǎn)倒立擺的模糊控制
- 機(jī)械畢業(yè)設(shè)計英文外文翻譯-倒立擺系統(tǒng)
- 倒立擺實驗報告-倒立擺與自動控制原理實驗
- 一階倒立擺雙閉環(huán)模糊控制畢業(yè)論文(含外文翻譯)
- [雙語翻譯]--外文翻譯--兩輪倒立擺移動機(jī)器人的實時控制
- 倒立擺的模糊控制研究.pdf
- 倒立擺系統(tǒng)的模糊控制.pdf
- 多級倒立擺的穩(wěn)定控制.pdf
評論
0/150
提交評論