Error Analysis of a Inverted Pendulum on an Inclined Rail

摘要：

According to inverted pendulum system control error, the method of error analysis and compensation is proposed, which eatablishes the structural model of inverted pendulum system, elaborates control principles of tilt inverted pendulum system, and studies error causes of inverted pendulum and inclination system error and dynamic error in the control process But errors involving electric control system and model of inverted pendulum system are combined together to constitute composite error of tilt inverted pendulum system. The purpose of studying the relationship among composite error, motion parameters and structural parameters is to rediscover a solution to minimize composite error and to improve the accuracy and precision of control system provides theory basis. The simulation results reveal the necessity of optimal control error compensation of tilt inverted pendulum.

关键词： tilt inverted pendulum error unalysis compensation simulation

作者: Zhong Luo Zhiyong Shi Peng Hu Lina Hao Hongyi Liu

作者单位: School of Mechanical Engineering & Automation Northeastern University Shenyang,Liaoning Province,China

会议类型: 国际会议

会议名称: The 2nd IEEE International Conference on Advanced Computer Control(第二届先进计算机控制国际会议 ICACC 2010)

会议地点: 沈阳

会议语种:英文

页码: 52-55

在线出版日期: 2010-03-27（万方平台首次上网日期，不代表论文的发表时间）