英文翻译(2006.5.30)英文翻译(2006.5.30).doc

外文翻译Inverted?Pendulum System synopsis What?is?an?Inverted?Pendulum? ?Remember?when?you?were?a?child?and?you?triedto?balance?a?broom-stick?or?baseball?bat?on?your?index?finger?or?the?palm?of?your?hand??You?had?to?constantly?adjust?the?position?of?your?hand??to?keep?the?object?upright.?An?Inverted?Pendulum?does?basically?the?same?thing.?However,?it?is??limited?in?that?it?only?moves?in?one?dimension,?while?your?hand?could?move?up,?down,?sideways,??etc.?Check?out?the?video?provided?to?see?exactly?how?the?Inverted?Pendulum?works. ? An?inverted?pendulum?is?a?physical?device?consisting?in?a?cylindrical??bar?(usually?of??aluminium)?free?to?oscillate?around?a?fixed?pivot.?The?pivot?is?mounted?on?a?carriage,?which??in?its?turn?can?move?on?a?horizontal?direction.?The?carriage?is?driven?by?a?motor,?which?can??exert?on?it?a?variable?force.?The?bar?would?naturally?tend?to?fall?down?from?the?top?vertical??position,?which?is?a?position?of??unsteady?equilibrium. ? The?goal?of?the?experiment?is?to?stabilize?the?pendulum?(bar)?on?the?top?vertical?position.? This??is?possible?by?exerting?on?the?carriage?through?the?motor?a?force?which?tends?to??contrast?the?free?pendulum?dynamics.?The?correct?force?has?to?be?calculated?measuring?the??instant?values?of?the?horizontal?position?and?the?pendulum?angle?(obtained?e.g.?through?two??potentiometers).? The?system?pendulum+cart+motor?can?be?modeled?as?a?linear?system?if?all?the?parameters?are??known?(masses,?lengths,?etc.),?in?order?to?find?a?controller?to?stabilize?it.?If?not?all?the??parameters?are?known,?one?can?however?try?to?reconstruct?the?system?parameters?using??measured?data?on?the?dynamics?of?the?pendulum.? What?is?it?used?for? ?Just?like?the?broom-stick,?an?Inverted?Pendulum?is?an?inherently?unstable?system.?Force?must??be?properly?applied?to?keep?the?system?intact.?To?achieve?this,?proper?control?theory?is??required.?The?Inverted?Pendulum?is?essential?in?the?evaluating?and?comparing?of?various??control?theories.?????The?inverted?p