外文翻譯--倒立擺原稿-展示頁
2025-05-27 07:58本頁面
【正文】 robotic control. The control is often based on a mathematical model of the system. This model is never an exact representation of reality, since modeling errors are inevitable. Moreover, one can use a simplified model on purpose. In this paper, the structured and unstructured uncertainties are of primary interest, ., the modeling error 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器控制的一個主要任務(wù)。 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 。很明顯每個任務(wù)的時序安排對控制器的一個好的性能是至關(guān)緊要的，因此對一個擺的穩(wěn)定性是有效的。事實上運算法則是通過數(shù)值點實現(xiàn)的該數(shù)值點看作一組互助的協(xié)同操作的任務(wù)，它是周期性的通過核心的活動，它執(zhí)行不同的計算。盡管它是仿真和實驗來顯示不同控制器的性能（舉例來說 PID 控制器，狀態(tài)空間控制器，模糊控制器）。倒立擺在求數(shù)值和各種控制理論的比較中是必要的。力度必須被嚴(yán)格地應(yīng)用以保持系統(tǒng)的完整性。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)像用擺的動力學(xué)的測量數(shù)據(jù)。reconstruct39。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）。 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). 實驗的目標(biāo)是使擺（棒子）穩(wěn)定在最高的豎直位置。 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。小車是由一個馬達(dá)控制的，它可以運 用于一個變力。 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. 一個倒立擺是個物理設(shè)備它包括一個圓柱體的棒子（通常是鋁的）可以在一個支點周圍振蕩。然而，它會受限制因為它只能在一 定范圍內(nèi)移動，雖然你的手可以上升 、 下降、斜向一邊等等。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)你是個孩子時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象的垂直。一個倒立擺在本質(zhì)上就是做相同的事情。檢查錄象提供的畫面來觀察倒立擺是如何確切 地 工作的。這個支點是安在一個車架上，它的轉(zhuǎn)動方向是水平的偏轉(zhuǎn)。棒子會有自然的趨勢從最高的豎直位置下落，那是一個不穩(wěn)定的平衡位置。free39。這是有可能的只要運用通過馬達(dá)的小車一個力該力可以與 “ 自由 ” 擺的動力學(xué)抵消。 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。 the system parameters using measured data on the dynamics of the pendulum. 系統(tǒng)擺 +車 +馬達(dá)可以建模成一個線形系統(tǒng)如果所有的參數(shù)都是已知的（質(zhì)量、長度等），為了尋找一個控制 器去穩(wěn)定住它。 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.
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