| 倒立摆系统的运动模态分析 |
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| 引用本文： | 杨亚炜,张明廉.倒立摆系统的运动模态分析[J].北京航空航天大学学报,2002,28(2):165-168. |
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| 作者姓名： | 杨亚炜 张明廉 |
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| 作者单位： | 北京航空航天大学,自动化科学与电气工程学院,北京,100083 |
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| 摘 要： | 提出倒立摆系统在受控稳定状态下的运动模态概念.通过对倒立摆系统物理结构的分析,归纳出由单电机控制的单倒立摆、二级倒立摆和三级倒立摆系统在受控稳定状态下可能出现的主要运动模态.在以数控方式实现由单电机成功控制单倒立摆、二级倒立摆和三级倒立摆系统稳定的基础上,分析控制倒立摆系统稳定的控制律反馈增益系数与系统稳定运动模态之间存在的关系.在实验中成功实现在线改变倒立摆系统的运动模态.
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| 关 键 词： | 控制 运动模态分析 物理模型 倒立摆 |
| 文章编号： | 1001-5965(2002)02-0165-04 |
| 收稿时间： | 2000-06-28 |
| 修稿时间： | 2000年6月28日 |
Stable Dynamic Mode of Inverted Pendulum Systems |
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| YANG Ya,ZHANG Ming.Stable Dynamic Mode of Inverted Pendulum Systems[J].Journal of Beijing University of Aeronautics and Astronautics,2002,28(2):165-168. |
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| Authors: | YANG Ya ZHANG Ming |
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| Institution: | Beijing University of Aeronautics and Astronautics, School of Automation Science and Electrical Engineering |
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| Abstract: | A concept about the dynamic mode of an inverted pendulum system when it is stabilized was proposed.The main dynamic modes of single,double and triple inverted pendulum systems with a single motor were concluded through analyzing their physical structure.On the basis that these systems can be stabilized successfully,relations between the coefficients of control law and the main dynamic modes were given.Experiments showed that these dynamic modes do exist and can be changed from one to another on line while an inverted pendulum system is stabilized. |
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| Keywords: | control modal analysis physical models inverted pendulum |
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