倒立摆 参考 英译汉.docx

倒立摆 参考 英译汉.docx

《倒立摆 参考 英译汉.docx》由会员分享，可在线阅读，更多相关《倒立摆 参考 英译汉.docx（15页珍藏版）》请在冰豆网上搜索。

倒立摆参考英译汉

倒立摆参考英译汉

Investigationonthecaroftheinvertedpendulumsystem

Abstract

pendulumcontrolsystemisacomplex,uncertain,nonlinearsystems,controltheoryteachingandvariouscontrolexperimentisidealexperimentplatform.Studyoninvertedpendulumsystemcaneffectivelyreflectincontrolofmanyofthetypicalissues:

suchasnonlinearproblems,robustness,stabilization,servoandtrackingproblems.Throughthecontrolofinvertedpendulum,usedtoverifythatthenewcontrolmethodofstrongabilitytohandlenonlinearandinstabilityproblems.Atthesametime,itscontrolmethodintherobotformilitary,aerospace,andGeneralinthefieldofindustrialprocesseshaveawiderangeofuses,suchasintheprocessofwalkingrobotbalancecontrol,verticalcontrolintherocketandsatelliteattitudecontrolinflight.

Keywords:

nonlinear,pendulum,balancecontrol,servo

1.Introduction

Invertedpendulumisinmultipleareasofrobotics,controltheory,computer-controlled,multi-technologyorganicCombination,thecontrolledsystemisanabsoluteinstability,higher-order,multivariable,stronglycouplednonlinearSystemcanbeusedasatypicalcontrolobjecttostudyit.Theinitialstudybeganinthetwentiethcentury1950s,theMassachusettsInstituteofTechnology（MIT）,cyberneticsexperts,basedontheprincipleofrocketlaunchboosterdesigntheequipmentofaninvertedpendulum.Inrecentyears,anewcontrolmethod,peoplearetryingtotestnewcontrolmethodshaveastronghandlemultivariate,nonlinear,andabsolutelyunstablesystemcapacitythroughatypicalinvertedpendulumcontrolobject,andthusfromwhichtofindthebestcontrolmethods.Invertedpendulumsystemasacontroltheoreticalresearchinanidealexperimentaltoolfortheteachingofautomaticcontroltheory,experimentandresearchtobuildanexperimentalplatformtosomekindofcontroltheoryormethodusedtotestatypicalprogramtopromotecontrolsystemtheory,thedevelopmentofnewideas.Duetotheextensiveapplicationofcontroltheory,thusthesystemofmethodsandtechniquesinthesemiconductorandprecisioninstrumentprocessing,robotcontroltechnology,artificialintelligence,missileinterceptcontrolsystem,aviationdockingcontroltechnology,rocketlaunchersverticalcontrolthesatelliteflightattitudecontrol,andgeneralindustrialapplications,hasabroaddevelopmentprospects.Planarinvertedpendulumcanbemorerealisticsimulationoftherocketflightcontrolandwalkingrobotstabilitycontrol.

2.ControlResearch

Invertedpendulumswing-upproblemisaclassicexperimentinthecontroltheory,theessenceoftheinvertedpendulumsystemfromastableequilibriumstateintheroleofexternalforcesautomaticallytransferredtoanotherstateofequilibrium.Inthisprocess,wedemandfromtheswingfast,butnottoomuchovershoot.

Mainslidingmodecontrolforinvertedswing-upcontrolmethod,Dicolorpredictivecontrol,partialstatefeedbackcontrol,optimalcontrol,energycontrol,supervisionandcontrolofanthropomorphiccontrol,neuralnetworkcontrol,evolutionarycontrol,butthemainfocusIntheenergycontrol,optimalcontrol,intelligentcontrol.

Donotapplytonon-linearinputandoutput,andmanycommonlyusedlinearcontroltheorybasedonnonlineartheory,theheadljifthefollowingseveralmethodshavebeensuccessfullyinvertedpendulumstartingtoswingcontrol.

1976,MoiltIJ,whoproposedacontrolsystemcontainstwocontrollers,onecontrollertoautomaticallyswing,andtheothertostabilizeintotheinvertedpendulumsystemnearequilibrium.Ingeneral,theswing-upcontrollerbyshakingtheinvertedpendulummovementtoaspecifiedrange,thenthecontrollerswitchestoanotherresponsibleforthestablepart.1996,Torres.PomalesJdesignasimpleslidingmodecontrollerforinvertedpendulumswing-up.

Basedonthesimplecontroloftheenergytermsistocontroltheenergyofthependulumratherthancontrolthepositionandvelocityofthependulum.Yoshidausingtheenergyofthelinearinvertedpendulumswing-upcontrol,theFantoniE41energycontrol,butthecontrolledobjectthecontrolledobjectisaplanemotionofapendulum.TheAstromdetailedaccountoftheenergycontroltheory,thecontrolobjectisastraightlineaninvertedpendulum.FuYing,ZhangGuanglienergyfeedbackmethodtocompletetheinvertedpendulumswing-upcontrol,similartotheabovemethod,relativelyspeaking,moreexperienced,andsuccessfulimplementationofakindofastraightlineforinvertedpendulumswing-upcontrol.

Numericalalgorithmsforoptimalcontrol,thecalculationoftheoptimalcontrollawinthestatevariableswhentherearefewer,butmoreforthestatevariables,especiallytheproblemwithendpointconstraintsaredifficulttoachieve.HouXianglin[71basedontheoptimalmethodoffastswing-principlesstudyofinvertedpendulumendpointconstraints,thevectorofeachtimeperiodonthecontrollawasthedesignvariables,objectivefunction,theestablishmentoftheoptimizationprocedurecalculationoftheoptimalcontrollawandappliedtothecircularsingle-stageinvertedpendulumswing-upprocesscontrol.TheZhujiangBin,etc.~kindsofpredictivecontrol,real-timenonlinearsystemsbasedonexpertsystemandvariablestepsizecontrolmethod,toavoidthecomplexnon-linearderivation,combinedwithexpertsystemcontrolparametercorrectionsteppredictionwithvariablestepsize,thusultimaterealizationofthelineardoubleinvertedpendulumswing-upandstabilitycontrol.

Swing-upalgorithmbasedonintelligentcontrol,therearetwocategories:

oneisdirectlythroughthestraight-linemanualcontrolaswing-upinvertedprocessofparsing,basedonthehumanoidintelligentcontroltheorysuchasfuzzycontrol,neuralnetworkdesignforswing-swingcontroloftheintelligentcontrollerinverted,singledegreeoffreedominthecaseofoperatingunderlimitedtorqueLiZushuovercastgooduseofsuchmethods,simulationandreal-timetestresultsaswellasbetweenfullagreementprovedhumanoidintelligentcontrolmethodsvalidity,butthecontrollergaincoefficientbyexperiment,andswing-upsuccesstohaveagreatimpact.Theother,theintelligentcontrolalgorithmwithothercontrolalgorithms,suchasoptimizationmethods,acombinationofenergyfeedbackmethod,suchasHouXianglinfirstopen-loopcontrollawoptimizationalgorithmtodeterminetheidealcontrollawandthestatevariablematrix,theestablishmentofthestandardsample,andthenbytheartificialneurale-learningstandardsamples,expressionofthestatevariablesandcontroltheamountofneuralnetworkweightsandthreshold,theestablishmentoftheswing-upcontroloftheneuralnetworkstatevariables,andthendetectedintheclosed-loopcontrol,decidedtoimplementswing-upcontrolorstabilitycontrol,intelligentcontrolandoptimalcontroltoachievetheinvertedpendulumswing-up.

3.invertedpendulum

What is an Inverted Pendulum?

 Remember when you were a child and you tried to balance a broom-stick or baseball bat on your index finger or the palm of your hand?

 You had to constantly adjust the position of your hand to keep the object upright. An Inverted Pendulum does basically the same thing. However, it is limited in that it only moves in one dimension, while your hand could move up, down, sideways, etc. Check out the video provided to see exactly how the Inverted Pendulum works.

An inverted pendulum is a physical device consisting in a cylindrical bar （usually of aluminum） free to oscillate around a fixed pivot. The pivot is mounted on a carriage, which in its turn can move on a horizontal direction. The carriage is driven by a motor, which can exert on it a variable force. The bar would naturally tend to fall down from the top vertical position, which is a position of unsteady equilibrium. 

The goal of the experiment is to stabilize the pendulum （bar） on the top vertical posit-ion. This is possible by exerting on the carriage through the motor a force which tends to contrast the 'free' pendulum dynamics. The correct force has to be calculated measuring the instant values of the horizontal position and the pendulum angle （obtained e.g. through two potentiometers）. 

The system pendulum+cart+motor can be modeled as a linear system if all the parameters are known （masses, lengths, etc.）, in order to find a controller to stabilize it. If not all the parameters are known, one can however try to 'reconstruct' the system parameters using measured data on the dynamics of the pendulum. 

What is it used for?

Just like the broom-stick, an Inverted Pendulum is an inherently unstable system. Force must be properly applied to keep the system intact.To achieve this, proper control theory is required. The Inverted Pendulum is essential in the evaluating and comparing of various control theories. 

The inverted pendulum is a traditional example （neither difficult nor trivial） of a c-ontrolled system. Thus it is used in simulations and experiments to show the performance of different controllers （e.g. PID controllers, state space controllers, fuzzy controllers....）. 

The Real-Time Inverted Pendulum is used as a benchmark, to test the validity and the performance of the software underlying the state-space controller algorithm, i.e. the used operating system. Actually the algorithm is implement form the numerical point of view as a set of mutually co-operating tasks, which are periodically activated by the kernel, and which perform different calculations. The way how these tasks are active-ted （e.g. the activation order） is called scheduling of the tasks. It is obvious that a cor-rect scheduling of each task is crucial for a good performance of the controller, and hence for an effective p