Research and Verification on Swing-Up Control algorithm of Rotary Inverted Pendulum

摘要：

　　In this paper,a dynamical equation of single rotary inverted pendulum is established,which based on Lagrange equation for the swing-up control problem of single rotary inverted pendulum.The algorithm of energy compensation control is proposed on the basis of this theory,and the experimental device based on DC servo motor during the single rotary inverted pendulum is established.The swing-up control of single rotary inverted pendulum is realized on the basis of experimental facility.The result of the actual control shows that the method proposed is effective and feasible.

关键词： Single Rotary Inverted Pendulum Energy Compensation DC Servo Motor

作者: Haohua Qin Wei Shao Lantian Guo

作者单位: School of Automation and Electronics Engineering,Qingdao University of Science and Technology,Qingda School of Automation,Northwestern Polytechnical University,Xian,Shaanxi,China

会议类型: 国际会议

会议名称: 第26届中国控制与决策会议(2014 CCDC)

会议地点: 长沙

会议语种:英文

页码: 4941-4945

在线出版日期: 2014-05-31（万方平台首次上网日期，不代表论文的发表时间）