三古塔摆的滑模控制稳定

Kenshū Sugawara, M. Izutsu, S. Hatakeyama, M. Iwase
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引用次数: 1

摘要

本文提出了一种三古塔摆系统。该系统有三个摆,放置在直接驱动电机。作者的目的是实现三古塔摆的稳定。对于稳定化控制,采用欧拉-拉格朗日法推导了运动方程和状态方程。作者给出了基于可控性矩阵条件数的结构评价和系统设计。由于有三个钟摆,每个环节都会受到干扰。因此,采用高鲁棒性的滑模控制进行稳定控制仿真。
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Stabilization of Triple Furuta pendulum by sliding mode control
In this paper, author present a system which named Triple Furuta pendulum. This system has three pendulums which placed at direct drive motor. Author aim at a realizetion of a stabilization of a Triple Furuta pendulum. For the stabilizing control, author derived the equation of motion by the Eular-Lagrange method and a state equation. Author show structural evaluation based on the condition number of controllability matrix and design of present system. Since there are three pendulums, each link would be affected by disturbance. And therefore a simulation of stabilizing control by sliding mode control with high robustness.
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