【摘要】 参考仿人智能控制思想,提出一种混合控制策略,实现了旋转二级倒立摆摆起倒立控制。将旋转二级倒立摆的摆起倒立稳定过程分为能量累积、姿态调整以及稳定控制三个阶段。基于无源系统理论的分析方法设计出摆杆的能量累积策略,以动力学分析方法设计出摆杆的姿态调整策略,以局部线性化方法进行摆杆的倒立稳定控制。仿真和实时实验结果证明了算法的有效性。更多还原

【Abstract】 Based on human simulated intelligent control theory,hybrid control method is proposed for the control problem of swing-up and handstand for a rotary rouble inverted pendulum. The proposed algorithm can be divided into three stages,which are energy accumulation,pose adjustment and balance control. Energy accumulation strategy for both rods is obtained according to passive system theory. Pose adjustment strategy between inner rod and outer rod is designed through dynamic analysis. Balance control is achieved by local linearization at the inverted equilibrium. Simulation and experimental results show the effectiveness of the algorithm.更多还原