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Control of the Carriage-Inverted Pendulum System Based on a Signal-Adaptive Inverse Model

机译:基于信号自适应逆模型的倒立摆系统的控制

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摘要

In this paper, we consider typical problems of automatic control for systems consisting of a carriage and a one-link inverted pendulum: stabilization of the pendulum in the absence of constraints on the coordinates of the carriage, control of the speed and position of the carriage with the stabilization of the pendulum, and control of the position with the subordinate system of speed control. Control algorithms were synthesized using a signal-adaptive inverse model based on the requirement of the desired distribution of the poles of the linearized zero system with deliberate implementation of three-rate processes. The results of numerical simulation of the synthesized control systems are presented.
机译:在本文中,我们考虑了由滑架和单连杆倒立摆组成的系统的自动控制的典型问题:在不限制滑架坐标,控制滑架速度和位置的情况下,摆的稳定性通过摆的稳定,以及通过速度控制的下级系统控制位置。基于对线性化零系统的极点的期望分布的要求,并通过精心设计的三速率过程,使用信号自适应逆模型来合成控制算法。给出了综合控制系统的数值模拟结果。

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