摘要
目前 ,人们对三级倒立摆系统的研究较少 ,其主要原因在于系统结构复杂和其非线性模型难以建立 ,这极大地限制了使用智能控制算法对其进行控制 ,本文在给出了三级倒立摆系统的硬件组成和分析了三级倒立摆的系统结构的基础上 ,用Lagrange方程推导出了其非线性数学模型 ,并对系统进行了线性化和分析了系统的可控性和可观测性 。
By now, little research of triple inverted pendulum are made because of its complex structure and no nonlinear model, which limit the application of intelligent control algorithms in the system; Therefore, the paper presents the hardware structure of triple inverted pendulum control system and the mathatical mode and the system construction of triple inverted pendulum was analysed .The controllability and observability of system was also analysed. Some ideas of intelligent control algorithms are put forward.
出处
《西南工学院学报》
2001年第4期5-11,15,共8页
Journal of Southwest China Institute of Technology
