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| 拟人智能控制三级倒立摆机理的研究 | |
| 引用本文： | 张飞舟,陈伟基,沈程智.拟人智能控制三级倒立摆机理的研究[J].北京航空航天大学学报,1999,25(2):151-155. |
| 作者姓名： | 张飞舟 陈伟基 沈程智 |
| 作者单位： | 1. 北京航空航天大学 自动控制系; 2. 澳门大学 科技学院 |
| 摘 要： | 从杂技顶杆演艺的机理出发,采用相平面分析法并结合人的控制经验,阐述一种比较直观的定性分析与定量估算相结合的拟人智能控制倒立摆方法,从而形成一级倒立摆的控制规律.在引入"等效小车"概念的基础上,易将一级倒立摆系统的分析方法推广到二级、三级(甚至更多级)倒立摆系统的分析.理论分析与实测结果是一致的,从而表明相平面这种定性的分析方法分析倒立摆是可行的. |
| 关 键 词： | 摆 人工智能 反馈控制 三级倒立摆 智能控制 等效小车 |
| 收稿时间： | 1997-12-01 |
Research on Mechanism of Imitating-Human Intelligent Control Triple-Inverted Pendulum |
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| Zhang Feizhou,Chen Weiji,Shen Chengzhi.Research on Mechanism of Imitating-Human Intelligent Control Triple-Inverted Pendulum[J].Journal of Beijing University of Aeronautics and Astronautics,1999,25(2):151-155. | |
| Authors: | Zhang Feizhou Chen Weiji Shen Chengzhi |
| Institution: | 1. Beijing University of Aeronautics and Astronautics,Dept. of Automatic Control; 2. University of Macau,Faculty of Science and Technology |
| Abstract: | Based on the mechanism of acrobatic erecting poles, this paper makes use of phase plane method and human controlling experience, puts forward an obvious imitating-human intelligent control method used to control one stage inverted-pendulum which combines qualitative analysis and quantitative estimation, and then abstracts controlling rules of one stage inverted-pendulum. By introducing "equivalent cart" concept, the analytical method is readily extended from one stage inverted-pendulum control system to double-inverted pendulum system, triple-one and even more. The theoretical analysis is the same as the test result. So the qualitative method used to analyze inverted-pendulum based on phase plane is feasible. |
| Keywords: | pendulums artificial intelligence feedback control triple inverted pendulum intelligent control equivalent cart |
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