外文翻譯--倒立擺原稿(已修改)
2025-06-01 07:58 本頁(yè)面
【正文】 The inverted pendulum Key words: inverted pendulum, modeling, PID controllers, Fuzzy controllers, state space controllers What is an Inverted Pendulum? Remember when you were a child and you tried to balance a broomstick or baseball bat on your index finger or the palm of your hand? You had to constantly adjust the position of your hand to keep the object upright. An Inverted Pendulum does basically the same thing. However, it is limited in that it only moves in one dimension, while your hand could move up, down, sideways, etc. Check out the video provided to see exactly how the Inverted Pendulum works. 倒立擺是什么 ？ 還記得當(dāng)你是個(gè)孩子時(shí)你曾用你的食指或者掌心設(shè)法去平衡一把掃帚柄或者棒球棍嗎？你必須不斷地調(diào)整你 的手的位置以保持對(duì)象的垂直。一個(gè)倒立擺在本質(zhì)上就是做相同的事情。然而，它會(huì)受限制因?yàn)樗荒茉谝? 定范圍內(nèi)移動(dòng)，雖然你的手可以上升 、 下降、斜向一邊等等。檢查錄象提供的畫面來(lái)觀察倒立擺是如何確切 地 工作的。 An inverted pendulum is a physical device consisting in a cylindrical bar (usually of aluminum) free to oscillate around a fixed pivot. The pivot is mounted on a carriage, which in its turn can move on a horizontal direction. The carriage is driven by a motor, which can exert on it a variable force. The bar would naturally tend to fall down from the top vertical position, which is a position of unsteady equilibrium. 一個(gè)倒立擺是個(gè)物理設(shè)備它包括一個(gè)圓柱體的棒子（通常是鋁的）可以在一個(gè)支點(diǎn)周圍振蕩。這個(gè)支點(diǎn)是安在一個(gè)車架上，它的轉(zhuǎn)動(dòng)方向是水平的偏轉(zhuǎn)。小車是由一個(gè)馬達(dá)控制的，它可以運(yùn) 用于一個(gè)變力。棒子會(huì)有自然的趨勢(shì)從最高的豎直位置下落，那是一個(gè)不穩(wěn)定的平衡位置。 The goal of the experiment is to stabilize the pendulum (bar) on the top vertical position. This is possible by exerting on the carriage through the motor a force which tends to contrast the 39。free39。 pendulum dynamics. The correct force has to be calculated measuring the instant values of the horizontal position and the pendulum angle (obtained . through two potentiometers). 實(shí)驗(yàn)的目標(biāo)是使擺（棒子）穩(wěn)定在最高的豎直位置。這是有可能的只要運(yùn)用通過(guò)馬達(dá)的小車一個(gè)力該力可以與 “ 自由 ” 擺的動(dòng)力學(xué)抵消。這個(gè)正確的力必須通過(guò)計(jì)算測(cè)量水平偏轉(zhuǎn)的瞬時(shí)值和擺的 角度（獲得兩個(gè)電位計(jì)）。 The system pendulum+cart+motor can be modeled as a linear system if all the parameters are known (masses, lengths, etc.), in order to find a controller to stabilize it. If not all the parameters are known, one can however try to 39。reconstruct39。 the system parameters using measured data on the dynamics of the pendulum. 系統(tǒng)擺 +車 +馬達(dá)可以建模成一個(gè)線形系統(tǒng)如果所有的參數(shù)都是已知的（質(zhì)量、長(zhǎng)度等），為了尋找一個(gè)控制 器去穩(wěn)定住它。如果不是所有的參數(shù)都已知，可以用多種方法去 “ 推想 ” 系統(tǒng)參數(shù)像用擺的動(dòng)力學(xué)的測(cè)量數(shù)據(jù)。 What is it used for?Just like the broomstick, an Inverted Pendulum is an inherently unstable system. Force must be properly applied to keep the system intact. To achieve this, proper control theory is required. The Inverted Pendulum is essential in the evaluating and paring of various control theories. 倒立擺是干什么的？就好象掃帚柄，一個(gè)倒立擺是一個(gè) 天生的不穩(wěn)定系統(tǒng)。力度必須被嚴(yán)格地應(yīng)用以保持系統(tǒng)的完整性。為了實(shí)現(xiàn)它，嚴(yán)格的控制理論是必須的。倒立擺在求數(shù)值和各種控制理論的比較中是必要的。 The inverted pendulum is a traditional example (neither difficult nor trivial) of a controlled system. Thus it is used in simulations and experiments to show the performance of different controllers (. PID controllers, state space controllers, fuzzy controllers....). 倒立擺是一個(gè)控制器系統(tǒng)中的一個(gè)傳統(tǒng)的例子（既不困難也不是沒(méi)有價(jià)值）。盡管它是仿真和實(shí)驗(yàn)來(lái)顯示不同控制器的性能（舉例來(lái)說(shuō) PID 控制器，狀態(tài)空間控制器，模糊控制器）。 The RealTime Inverted Pendulum is used as a benchmark, to test the validity and the performance of the software underlying the statespace controller algorithm, . the used operating system. Actually the algorithm is implement form the numerical point of view as a set of mutually cooperating tasks, which are periodically activated by the kernel, and which perform different calculations. The way how
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