闭着眼睛平衡一根棍子:没有角度测量的倒立摆

IF 1.7 4区计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS

Journal of Dynamic Systems Measurement and Control-Transactions of the Asme Pub Date : 2023-02-08 DOI:10.1115/1.4056702

Bidhayak Goswami, Anindya Chatterjee

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引用次数: 0

摘要

摘要考虑单输入单输出(SISO)框架下的线性时不变动态系统。特别地，我们考虑在推车上施加一个力来使倒立摆稳定。摆角反馈使系统易于稳定。然而，小车位置反馈不能用稳定和适当的补偿器来稳定。在这里，我们证明了在并联前馈回路中加入一个额外的补偿器，这种补偿器可以实现稳定。对噪声的敏感性似乎比有角度反馈的情况差三倍。为了完整起见，讨论了补偿器的参数选择、鲁棒性、脆弱性以及与另一种控制方法的比较。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Balancing a Stick With Eyes Shut: Inverted Pendulum on a Cart Without Angle Measurement

Abstract We consider linear time-invariant dynamic systems in the single-input, single-output (SISO) framework. In particular, we consider stabilization of an inverted pendulum on a cart using a force on the cart. This system is easy to stabilize with pendulum angle feedback. However, with cart position feedback it cannot be stabilized with stable and proper compensators. Here, we demonstrate that with an additional compensator in a parallel feedforward loop, stabilization is possible with such compensators. Sensitivity to noise seems to be about three times worse than for the situation with angle feedback. For completeness, discussion is presented of compensator parameter choices, robustness, fragility, and comparison with another control approach.

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来源期刊

Journal of Dynamic Systems Measurement and Control-Transactions of the Asme 工程技术-仪器仪表

CiteScore

3.90

自引率

11.80%

发文量

审稿时长

24.0 months

期刊介绍： The Journal of Dynamic Systems, Measurement, and Control publishes theoretical and applied original papers in the traditional areas implied by its name, as well as papers in interdisciplinary areas. Theoretical papers should present new theoretical developments and knowledge for controls of dynamical systems together with clear engineering motivation for the new theory. New theory or results that are only of mathematical interest without a clear engineering motivation or have a cursory relevance only are discouraged. "Application" is understood to include modeling, simulation of realistic systems, and corroboration of theory with emphasis on demonstrated practicality.