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Volume 26 Issue 3
Mar.  2000
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Journal of Beijing University of Aeronautics and Astronautics  > 2000  >  26(3): 311-314.
YANG Ya-wei, ZHANG Ming-lian. Stabilizing Triple-Inverted Pendulum Using Computer[J]. Journal of Beijing University of Aeronautics and Astronautics, 2000, 26(3): 311-314. (in Chinese)
Citation: YANG Ya-wei, ZHANG Ming-lian. Stabilizing Triple-Inverted Pendulum Using Computer[J]. Journal of Beijing University of Aeronautics and Astronautics, 2000, 26(3): 311-314. (in Chinese)
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Stabilizing Triple-Inverted Pendulum Using Computer

  • Beijing University of Aeronautics and Astronautics,Dept.of Automatic Control

  • Received Date: 06 May 1999
  • Publish Date: 31 Mar 2000
    Abstract
  • Personified intelligent control idea based on the physical model of system is proposed in this paper.Qualitative control law is acquired through the qualitative analysis of system model.The personified intelligent idea is applied to adjusting the control law by observing the dynamic behavior of system on line.The mechanical properties of system and the physical properties of motor are considered synthetically in designing feedback control law.An intelligent damp term is added to the control law due to the system behavior and all feedback gain coefficients are given.A nonlinear control law is established and the triple inverted pendulum with a single motor is controlled steadily using computer.Another triple inverted pendulum with different structure is also stabilized successfully by the same way.The experimental datum curves are attached.

     

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  • [1] Mori S,Nishihara H,Furuta K.Control of unstable mechanical system-Control of pendulum[J].Int J Control,1976,23:673~692. [2]Furuta K,Ochiai T,Ono N.Attitude control of a triple inverted pendulum[J].Int J Control,1984,39:1351~1365. [3]尹征琦,冯祖仁,陈辉堂.采用模拟调节器的二级倒立摆的控制[J].信息与控制,1985,14(1):6~10. [4]张明廉,郝健康,何卫东.拟人智能控制与三级倒立摆[J].航空学报,1995,16(6):654~661. [5]Meier H,Farwig Z,Unbehauen H.Discrete computer control of a triple-inverted pendulum[J].Optimal Control Applications & Methods,1990,11:151~171. [6]Eltohamy K G,Kuo C Y.Real time stabilization of a triple link inverted pendulum using single control input[J].IEE Proc-Control Theory Appl,1997,144(5):498~504. [7]Medrano-Cerda G A.Robust stabilization of a triple inverted pendulum-cart[J].International Journal of Control,1997,68(4):849~865.
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