外文翻譯--倒立擺原稿(存儲版)
【正文】 due to the parameters variation and unmodeled modes, especially the friction and sensor dynamics, neglected time delays, etc. 法定軌道通過確定的精確性是機(jī)器控制的一個主要任務(wù)。通常這個現(xiàn)象是令人不快的，它會引起額外的控制作用從而導(dǎo)致激勵者穿戴的增加和未建模動力學(xué)的刺激。因此，在評估的精確 性中控制一些誤差動力學(xué)的條件減少了一些不確定性（就如同在傳統(tǒng)的 SMC 中）。在特殊情況下開關(guān)線將相平面分成 一個區(qū)域那個區(qū)域中控制是正的反之另一邊是負(fù)的，模糊控制器可以視為一個可變結(jié)構(gòu)的控制器。在這應(yīng)用筆記中，我們可以用一個倒立擺的例子來提供模糊邏輯基 礎(chǔ)系統(tǒng)設(shè)計的所有方面的細(xì)節(jié)。工程師 必須確定作為結(jié)果的控制器在實(shí)際中有能力制造必須的性能指標(biāo)不管是設(shè)備還是模型的失諧。介紹這個額外的系統(tǒng)的復(fù)雜性的優(yōu)勢之一就是可以將系統(tǒng)中復(fù)合結(jié)構(gòu)的有用的性質(zhì)組合起來。第一個包括開關(guān)方程的設(shè)計所以滑行的動作滿足設(shè)計規(guī)范。 The “INVERTED PENDULUM, ANALYSIS, DESIGN AND IMPLEMENTATION” is a collection of MATLAB functions and scripts, and SIMULINK models, useful for analyzing Inverted Pendulum System and designing Control System for it. This report amp。復(fù)雜的問題的真實(shí)度和 難度在控制中隨著彈性而增長。 。帚平衡（車載的倒立擺）是一個著名的非線形例子， 不穩(wěn)定的控制問題。充分的處理過的設(shè)計實(shí)例是一個額外的性質(zhì)的指示。另外，立即指定性能的能力使得滑?？刂茝脑O(shè)計觀點(diǎn)看變得有價值。決策規(guī)則，條件是開關(guān)方程，將輸入估計成正確的系統(tǒng)特性并且產(chǎn)生一個輸出精確的反饋控制器使之可以及 時地被使用。 In the formulation of any control problem there will typically be discrepancies between the actual plant and the mathematical model developed for controller mismatch may be due to unmodelled dynamics, variation in system parameters or the approximation of plex plant behavior by a straightforward engineer must ensure that the resulting controller has the ability to produce the required performance levels in practice despite such plant/model mismatches. This has led to an intense interest in the development of socalled robust control methods which seek to solve this problem. One particular approach to robust control controller design is the socalled sliding mode control methodology. 在任何控制問題的陳述中，在控制的設(shè)計發(fā)展中現(xiàn)行的設(shè)備和數(shù)學(xué)模型之間總是有著明顯的差異。 So far, in the application note series, we have provided several examples showing how to create fuzzy controllers with FIDE. However, these examples do not provide topics on implementation of the designed system. In this application note, we use an example of an inverted pendulum to provide details on all aspects of fuzzy logic based system design. 迄今為止，在應(yīng)用筆記系列中，我們已經(jīng)提供了許多展示如何用 FIDE 創(chuàng)造模糊控制裝置的例子。一個級 數(shù)空間的分割可以在控制器有區(qū)域勸導(dǎo)的常數(shù)參數(shù)中找到。 In this paper we suggest an approach to the design of decentralized motion controllers for electromechanical systems besides the sliding mode motion controller structure and disturbance torque estimation. The accuracy of the estimation is the critical parameter for robustness in this scheme, as opposed to the upper bounds of the perturbations themselves. Consequently, the driving terms of the error dynamics are reduced from the uncertainties (as in the conventional SMC) to the accuracy in their estimates. The result is a much better tracking accuracy without being over conservative in control. 在這篇論文中我們提出一個機(jī)電系統(tǒng)中分散震動控制器的設(shè)計方法除了滑模震動控制器結(jié)構(gòu)和干擾轉(zhuǎn)矩的估算?；？刂破?(SMC)是基于變結(jié)構(gòu)控制使用的如果模型結(jié)構(gòu)中的錯誤在已知的范圍內(nèi)躍進(jìn)。 Modeling an inverted the inverted pendulum system is modeled as a linear system, and hence the modeling is valid only for small oscillations of the pendulum. 為倒立擺建模 。倒立擺在求數(shù)值和各種控制理論的比較中是必要的。這個正確的力必須通過計算測量水平偏轉(zhuǎn)的瞬時值和擺的 角度（獲得兩個電位計）。 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.
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