| 旋转式倒立摆的镇定和摆起控制的研究 |
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| 引用本文： | 姜倩,管凤旭.旋转式倒立摆的镇定和摆起控制的研究[J].哈尔滨商业大学学报(自然科学版),2007,23(3):322-324. |
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| 作者姓名： | 姜倩 管凤旭 |
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| 作者单位： | 哈尔滨工程大学,哈尔滨,150001 |
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| 摘 要： | 通过对旋转式倒立摆系统的数学模型分析,采用极点配置法对倒立摆系统的镇定控制进行仿真研究,针对摆起控制提出基于经验与能量分析方法.针对旋转式倒立摆实物系统进行实际控制,实验结果表明:提出的控制方法对倒立摆的稳定控制和摆起控制具有很好的效果.
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| 关 键 词： | 旋转式倒立摆 镇定控制 摆起控制 极点配置 实时控制 |
| 文章编号： | 1672-0946（2007）03-0322-03 |
| 收稿时间： | 2006-08-31 |
| 修稿时间： | 2006-08-31 |
Study on stabilization and swing-up control of rotational inverted pendulum |
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| JIANG Qian,GUAN Feng-xu.Study on stabilization and swing-up control of rotational inverted pendulum[J].Journal of Harbin University of Commerce :Natural Sciences Edition,2007,23(3):322-324. |
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| Authors: | JIANG Qian GUAN Feng-xu |
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| Institution: | Harbin Engineering University, Harbin 150001, China |
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| Abstract: | Through analyzing mathematical models of the rotational inverted pendulum system,the simulation of stabilization control of inverted pendulum is researched by pole assignment.The method based on experiences and energy of swing-up control is proposed.The experimental results show that the contro1 method is efficient about stabilization control and swing-up control of inverted pendulum system. |
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| Keywords: | rotational inverted pendulum stabilization control swing-up control pole placement real-time control |
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