【作者】 黄南晨； 吴刚； 程俊； 卿志远； 孙德敏；

【Author】 Huang Nanchen Wu Gang Cheng Jun Qing Zhiyuan Sun Demin (Automation Department, University of Science and Technology of China, Hefei, 230027)

【机构】 中国科学技术大学自动化系；

【摘要】 本文研究了一种新型的倒立摆系统,该装置是由连在直流力矩电机转轴上的驱动臂和能自由旋转的摆杆构成,驱动臂在电机的作用下能在铅直平面内旋转,通过驱动臂的转动来保持摆杆稳定在平衡位置．运用动力学建立了该系统的数学模型。根据变结构控制理论的设计方法设计出控制率,在此基础上借助于计算机辅助设计软件,进行了仿真研究。更多还原

【Abstract】 In this paper a new device, arm-driven inverted pendulum (ADIP), is presented. The device is made up of a pendulum and a rotated arm. The pendulum is the top link and is driven by the rotated arm, which is connected to the axis of rotation of an electromotor. The pendulum and the rotated arm can all rotate in vertical plane. At first, the mathematical model is established and linearized at its balanced points. Based on the mathematical model, a controller is designed using variable structure control theory. Furthermore, the computer simulation of the controller is acquired under the environment of MATLAB.更多还原