Stabilizing Triple-Inverted Pendulum Using Computer
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摘要: 应用基于物理模型的拟人智能控制思想设计控制器.结合单倒立摆系统模型的定性分析与三级倒立摆物理结构特性分析得到定性控制律,利用系统运动模态随反馈增益系数的转化规律,由智能搜索方法实现定性控制律的量化,成功实现计算机控制三级倒立摆系统长时间稳定,并给出各状态变量实测数据曲线图.应用同样方法可以控制不同结构的三级倒立摆稳定.证实了所采用方法的有效性和实验成果的可重复性.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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Key words:
- qualitative analysis /
- physical models /
- control systems /
- intelligent control /
- personify
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