重庆理工大学学报（自然科学版）2013，Vol.27Issue(6)：53-57,5.DOI:10.3969/j.issn.1674-8425(z).2013.06.012
加速度控制的倒立摆的S函数建模
Inverted Pendulum of Acceleration Control Modeling Based on S-Function
摘要
Abstract
The laboratory equipment of inverted pendulum is very precise.Direct physical control research is easy to damage the equipment,and there exists a certain personal safety hidden trouble.In order to quickly get control law and finally apply it to real-time control experiment,the simulation control research is needed.In the simulation research,establishment of the simulation platform is particularly important.This paper takes acceleration control double inverted pendulum as an example.The physical model and mathematical model are given.Based on S-function,a new modeling method of inverted pendulum is proposed in the simulation environment of Matlab/Simulink.This method has many advantages such as the less demanded workload,the simple interface,the small error probability,and the fast simulation speed,etc.Simulation results demonstrate the validity of the inverted pendulum modeling based on S-function.This method can also be applied to other multistage inverted pendulum.关键词
倒立摆/S函数/建模Key words
inverted pendulum/ s-function/ modeling分类
信息技术与安全科学引用本文复制引用
谭智,李祖枢..加速度控制的倒立摆的S函数建模[J].重庆理工大学学报（自然科学版）,2013,27(6):53-57,5.基金项目
重庆市科委自然科学基金计划资助项目(CSTC,2009BB3386) （CSTC,2009BB3386）
