| 引用本文: | 陈湧.关节倒摆的数字控制.[J].国防科技大学学报,1986,(1):17-29.[点击复制] |
| Chen Yong.Digital Control of Joint Inverted Pendulum[J].Journal of National University of Defense Technology,1986,(1):17-29[点击复制] |
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| 关节倒摆的数字控制 |
| 陈湧 |
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| 摘要: |
| 关于倒摆控制，早就引起了自动控制专家们的重视，目前大都采用车—摆结构。本文作者对另一种结构的倒摆—关节倒摆的数字控制的有关问题进行了研究，实现了关节倒摆在up-up 和 down-up 两种典型状态下的计算机实时稳定控制和 down-up 系统摆上的计算机控制。文中给出了实验结果。 |
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| 投稿日期：1985-09-03 |
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| Digital Control of Joint Inverted Pendulum |
| Chen Yong |
| Abstract: |
| The investigation about the problem of the control of the inverted pendulum was seriously made by the experts in automatic control early. The structure of cart-pendulum is mostly adopted nowadays. The author has studied some problems of digital control of joint inverted pendulum，another structure of the inverted pendulum，and implemented the computer stable control of joint inverted pendulum in two typical states and the computer control of Swinging-up. The experimental results are presented. |
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