Study on Swing-up Control of Rotary Inverted Pendulum Based on Energy Feedback

被引：0
|
作者：
Zhang, Xinrong [1 ]
Ma, Jie [2 ]
Lin, Lian [1 ]
Wang, Lele [1 ]
机构：
[1] Changan Univ, Key Lab Rd Construct Technol & Equipment MOE, Xian, Shaanxi, Peoples R China
[2] Shaanxi Polytech Engn, Coll Mech Engn, Xian Yang, Peoples R China
来源：
2018 5TH INTERNATIONAL CONFERENCE ON INFORMATION SCIENCE AND CONTROL ENGINEERING (ICISCE 2018) | 2018年
关键词：
Rotary inverted pendulum; swing-up; energy control; CONTROL ALGORITHM; SIMULATION;
D O I：
10.1109/ICISCE.2018.00205
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
To study we control of we rotary inverteu pendulum system, the author in this paper proposed a swing-up method based on energy control. Through analysis the energy of the pendulum rod during the whole swing-up, and introduce the angle of the pendulum as a feedback coefficient to reduce the swing-up time, the author came up with the swing-up control method. Acquire better input with the help of giving different parameters repeatedly using Matlab/Simulink simulation and finish the experimentation finally. The simulation results and the experimental data indicate that the method can drive the pendulum from its hanging-down position to the upright position well. Finally it conclude that this energy method is appropriate for the rotary inverted pendulum system.
引用
收藏
页码：994 / 998
页数：5
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