毕业设计方案书(论文)外文参考资料附译文封面.docVIP

毕 业 设 计（论 文）外 文 参 考 资 料 及 译 文 译文题目： Inverted Pendulum 学生姓名： 徐飞马 学 号： 0704111030 专 业： 07自动化 所在学院： 机电学院 指导教师： 陈丽换 职 称： 讲师 2011 年 2月 24日 \The inverted pendulum Key words: inverted?pendulum, modeling, PID?controllers, LQRcontrollers What?is?an?Inverted?Pendulum??Remember?when?you?were?a?child?and?you?tried?to?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?aluminum)?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?o