Real Time Simulation for 2-DOF Planar Robot Based Inverted Pendulum System
Based on system simulation technology of MATLAB/Simulink, this article establishes the system mathematical model by applying the mechanism modeling method; designs and implements the real time simulation system for inverted pendulum servo-control system. The 2-DOF planar robot based inverted pendulum system is a multivariable, nonlinear and unstable actual controlled plant, which has been put in the simulation system loop for simulation study, including designing the system controller, building up the virtual instrument, monitoring the system operation in real-time, on-line and testing the system dynamic properties, this control result is good.
Inverted Pendulum Robot MATLAB/Simulink Optimizing Control Real Time Simulation
Feng PAN Da Li CHEN Ding Yu XUE Jian Jiang CUI
Academy of Information Science and Engineering, NEU, Shen Yang, 110004
国际会议
2009年中国控制与决策会议(2009 Chinese Control and Decision Conference)
广西桂林
英文
3367-3370
2009-06-17（万方平台首次上网日期，不代表论文的发表时间）