Analysis and Stabilization of a Parallel-Type Double Inverted Pendulum System
Analysis and Stabilization of a Parallel-Type Double Inverted Pendulum System
复制标题
并联式双倒立摆系统的分析与稳定
DOI：
10.9746/sicetr1965.29.572
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发表时间：
1993
期刊：
影响因子：
--
通讯作者：
Takeshi Yamaguchi
中科院分区：
文献类型：
--
作者：
R. Kawatani;Takeshi Yamaguchi
本文讨论了一个并联二级倒立摆系统的镇定问题。首先，通过对所导出的单摆系统的状态空间方程的分析，并与其它类型的单摆系统进行了比较，明确了其定性特征。特别是，我们发现，存在着一些困难的稳定在并联型，造成的两个阻尼器的固有频率比。在此基础上，我们综合了由状态反馈增益和全状态观测器构成的控制器，并通过仿真和实验验证了摆系统的稳定性。
In this paper, we discuss a stabilization of a parallel-type double inverted pendulum system. First, analysing the derived state space equation of the pendulum system and comparing with other pendulum systems which are sires-type and single-sype, we make qualitative characteristics clear. Especially, we show that there exists some difficulty of stabilization in the parallel-type, caused by the natural frequency ratio of two pendulums. Based on the above results, we synthesize some controllers which are constructed by a state feedback gain and full state observer, and confirm that the pendulum system can be stabilized in both simulation and experiment.