【摘要】：工程中的許多問題可以抽象為倒立擺的模型或其控制的相關(guān)問題。從動力分析的角度看,倒立擺系統(tǒng)是典型的非線性欠驅(qū)動系統(tǒng),其動力學行為十分復(fù)雜。因此對它的研究具有重要的理論意義和實際工程意義。 在過去幾十年里,對倒立擺系統(tǒng)的研究成果層出不窮。但是,研究的主要對象是直線倒立擺和旋轉(zhuǎn)倒立擺上,對安裝在平面直角坐標系上的倒立擺的研究較少,而對安裝在平面兩自由度機械臂上的倒立擺(固高GPIP2013型倒立擺)的研究更少。 本文針對固高公司GPIP2013型倒立擺的控制及其混沌現(xiàn)象展開研究。 論文的主要研究內(nèi)容及成果如下： 1.利用固高公司GPIP2013型倒立擺及該公司提供的控制程序進行了實驗研究,對實驗結(jié)果進行了簡單分析,總結(jié)出了控制過程中會直接影響控制效果的參數(shù),并討論了這些參數(shù)發(fā)生變化時,對倒立擺的實際控制效果所產(chǎn)生的影響。 2.對固高公司所提供的GPIP2013型倒立擺原控制程序在實際控制過程中機械臂會出現(xiàn)不穩(wěn)定運動這一現(xiàn)象進行了分析,提出了將安裝在兩自由度平面機械臂上的倒立擺控制問題轉(zhuǎn)化為安裝在直角坐標系兩自由度平面一級倒立擺控制問題的思路,建立了運動學轉(zhuǎn)換關(guān)系模型。 3.利用運動學轉(zhuǎn)換關(guān)系研究了GPIP2013型倒立擺控制系統(tǒng)中的混沌現(xiàn)象,提出了基于混沌負反饋控制原理的倒立擺穩(wěn)定控制方法,并利用小車直線一級倒立擺模型對該方法進行了仿真,結(jié)果驗證了該方法的有效性。
[Abstract]:Many problems in engineering can be abstracted as the model of inverted pendulum or related problems of its control. From the point of view of dynamic analysis, inverted pendulum system is a typical nonlinear underactuated system, and its dynamic behavior is very complex. Therefore, the study of it has important theoretical and practical significance. In the past few decades, the inverted pendulum system has been studied one after another. However, the main research objects are linear inverted pendulum and rotating inverted pendulum. There is less research on inverted pendulum (fixed height GPIP2013 inverted pendulum) mounted on planar two DOF manipulator. In this paper, the control and chaos of GPIP2013 inverted pendulum in Gugao Company are studied. The main research contents and results are as follows: 1. Using GPIP2013 inverted pendulum of Gugao Company and the control program provided by the company, the experimental results are analyzed, and the parameters that will directly affect the control effect in the control process are summarized. The influence of these parameters on the actual control effect of inverted pendulum is discussed. In this paper, the unstable movement of the manipulator in the actual control process of the GPIP2013 inverted pendulum provided by Gugao Company is analyzed. The control problem of inverted pendulum installed on the planar manipulator with two degrees of freedom is transformed into the control problem of the inverted pendulum installed in the right-angle coordinate system with two degrees of freedom. The kinematics transformation relationship model is established. The chaotic phenomena in GPIP2013 inverted pendulum control system are studied by using kinematics transformation relation. A stable control method of inverted pendulum based on chaotic negative feedback control principle is proposed, and the simulation of this method is carried out by using the one-stage inverted pendulum model. The results show that the method is effective.
【學位授予單位】：西南交通大學
【學位級別】：碩士
【學位授予年份】：2012
【分類號】：TH113

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