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摘要
Given the relationship between parameters of the mechanical parts and initial angle of an inverted pendulum, control parameters and a structural model of an inverted pendulum system was set up for a typical experimental system of nonlinear, strong coupling, and multi-input/output control, with its operational principles described. The relationship between control parameters of the optimum control strategy and the parameters of the mechanical parts was analyzed. The equation describing effect of the initial angle as well as the effect of system control parameters on parameters of the mechanical parts was determined. Results of combined experiments indicated that factors affecting system control error included tooth belt power transmission error, dolly and rocker arm inertia, and friction between tooth belt and sprocket. These results provide theory and methods for control of inverted pendulum systems as well as for analysis and design of and other related system.
- 出版日期2011
- 单位东北大学
