小车二级摆系统地摆起倒立控制与实践.PDFVIP

Swinging up and Handstand Control of Cart-double- Pendulum System and Experiment Analysis 1 2 2 2 Li Zushu, Wang Yuxin , Zhang Hua Tan Zhi 1) Institute of Artificial Intelligence System, Chongqing Institute of Technology, Chongqing, 400050 2) Institute of Intelligent Automation, Chongqing university, Chongqing, 400044 Tel: 86-23 Fax: 86-23 E-mail: zushuli@ Abstract : By means of the method of Human-Simulated Intelligent Control (HSIC) theory, the control problem about swinging up and handstand control of cart-double-pendulum system (CDPS), which is of a kind of typical underactuated unsteady nonlinear system, was studied. By the medium of analyzing the movement process of CDPS and simulating the specialties of Human controller, the Sensory-motor Intelligent Schemas (SMIS) of HSIC controller were formulated and designed. The designed controller can perceive the coupled motion characteristic of pendulums and use the multi-mode control strategy based on characteristic identification. In the swinging up process, the angle and movement tendency between the two linked pendulums are kept minimum at all the time, and the double-pendulum then becomes a “quasi-cart-single-pendulum”. Simulation and real successful experiment prove the efficiency of the presented method. Key Words : Cart-double-pendulum system, Swinging up and handstand control, Human Simulated Intelligent Control, Sensory-motor Intelligent Schema. 小车二级摆系统的摆起倒立控制与实践 1 2 2 2 2 李祖枢 王育新 张华 谭智 1) 重庆工学院人工智能系统研究所 重庆 400050 2) 重庆大学智能自动化研究所