CN201323018Y - Swing link gravity center disturbance inverted pendulum device - Google Patents
Swing link gravity center disturbance inverted pendulum device Download PDFInfo
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- CN201323018Y CN201323018Y CNU2008201706943U CN200820170694U CN201323018Y CN 201323018 Y CN201323018 Y CN 201323018Y CN U2008201706943 U CNU2008201706943 U CN U2008201706943U CN 200820170694 U CN200820170694 U CN 200820170694U CN 201323018 Y CN201323018 Y CN 201323018Y
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Abstract
The utility model relates to a swing link gravity center disturbance inverted pendulum device. The design parameters of a prior inverted pendulum device are all fixed values, and is very difficult to be used to verify the uncertainty of prior control theory. A base is equipped with a power shaft and a drive shaft which are linked by a transmission belt, the two ends of the transmission belt are connected with a trolley on a slide rail. A rotating shaft runs through a swing link support seat on the trolley, one end is connected with an angle encoder, and the other end is fixedly connected with the bottom end of the swing link. The top end of the swing link is equipped with a disturbance box, the disturbance box is a cylindrical box body, the top surface of the box body is transparent, and 3-5 steel balls are put in the disturbance box. The inverted pendulum device achieves the change of the gravity center of the swing link through disturbing the free rolling of the steel ball in a cavity, and can verify a control method of a robust in scientific research and teaching.
Description
Technical field
The utility model belongs to the research and teaching technical field, relates to a kind of experimental provision, relates in particular to a kind of fork centre-of-gravity disturbance inverted pendulum device.
Background technology
Recent two decades comes, and a focus of modern control theory is exactly to have under the uncertain prerequisite that exists, how effectively to control controlled device, reduces in the real system inevitable various uncertain factors as much as possible to the influence of control system quality.Round this focus, modern control theory scholar has proposed many effective Control System Design methods, as robust control, adaptive control, fuzzy control, Based Intelligent Control or the like.But, with the contrast of the advance of these modern control theory achievements but be to lack the experimental verification means.Inverted pendulum is in the process of control theory development, always as a kind of generally acknowledged experimental verification means.
The basic module of existing rectilinear motion inverted pendulum is the rectilinear motion control module, and this module is slided along linear bearing by ac/dc driven by servomotor sliding machine, finishes the task of positioning control and speed Tracking.On sliding machine, install one one joint oscillator system additional, then constituted the control teaching platform of more complicated---a joint reversible pendulum system.This system can be used for testing, researching and developing all kinds of new control algolithms.Though, more than present control strategy to reversible pendulum system has so, and have many control strategies all inverted pendulum to be carried out stable control, but can the parameter that great majority are not all considered reversible pendulum system itself also make inverted pendulum stably erect under variable situation.
Robust control is one of most important result of study in automation field twentieth century end.Briefly, what robust control was handled is uncertain object, this uncertainty comprise external disturbance, model parameter change, not modeling dynamically, the error of actuator or the like, at present, robust control theory is quite ripe, and writes in undergraduate, postgraduate and slip-stick artist's training materials as substance.But compare with traditional Automatic Control Theory, the demonstration of various robust control algorithms all leans on computer simulation system software to realize in the teaching, lacking corresponding laboratory facilities checks: whether robust control theory meets the natural law, whether can solve the problem of exist actually.
In addition on the one hand, the inverted pendulum device is unusual one of experimental provision of " popular " in the present Automatic Control Theory teaching.Usually the parameter of inverted pendulum fork is immutable, in this case, just can't verify the superiority of robust control under the situation of changeable parameters.The correctness of robust control theory and controller by its Design Theory of the needs of the feasibility in the practical application go to control a typical subject and verify.According to the needs of this changeable parameters of robust control, we transform the inverted pendulum device, have designed a kind of inverted pendulum device of fork changeable parameters---the inverted pendulum of fork centre-of-gravity disturbance, and this device can be used for directly verifying various robust control algorithms.
Research to the variable inverted pendulum of fork center of gravity has the important engineering background.In the flight course of aircraft such as rocket, the continuous burning of fuel also can make its center of gravity obtain changing (the variable inverted pendulum of similar fork center of gravity), in order to keep its correct attitude, constantly control in real time.Therefore the variable reversible pendulum system of fork center of gravity is stablized with rocket vehicle and all kinds of servo console very big similarity.
In sum, existing inverted pendulum Design of device parameter is fixed value, is difficult to verify the uncertainty of modern control theory.
Summary of the invention
The purpose of this utility model is at the deficiencies in the prior art, the inverted pendulum device that becomes when a kind of fork center of gravity is provided.
The utility model comprises pedestal, correspondence is provided with main drive shaft support and driven shaft support on the pedestal, the both sides of main drive shaft support are provided with the line shaft and the main drive shaft of interlock, one side of driven shaft support is provided with driven shaft, main drive shaft and driven shaft link by driving-belt, the two ends of driving-belt are connected with cart stationary, on the slide rail that dolly is installed in pedestal is fixedlyed connected, and constitute with slide rail and to be slidingly matched.
Be set with the fork bearing on the dolly, the setting of fork bearing is passed in rotating shaft, and an end and the angular encoder of rotating shaft are connected, and the other end is fixedlyed connected with the bottom of fork, and the top of fork is equipped with the disturbance box.Described disturbance box is a cylindrical box body, and the end face of box body is transparent.The inside of disturbance box is the disturbance chamber, is placed with 3～5 steel balls in the disturbance chamber, and steel ball can freely roll in the disturbance chamber.Axially axial vertical with fork of rotating shaft, fork axial vertical with the bottom surface of disturbance box.
Free scrolling realization by steel ball in the disturbance chamber in the inverted pendulum device busy of the present utility model the variation of fork center of gravity, in research and teaching, can verify robust control method.
Description of drawings
Fig. 1 is a structural representation of the present utility model.
Embodiment
As shown in Figure 1, fork centre-of-gravity disturbance inverted pendulum device comprises pedestal 1, and correspondence is provided with main drive shaft support 2 and driven shaft support 3 on the pedestal 1, and the both sides of main drive shaft support 2 are provided with the line shaft 4 and the main drive shaft 5 of interlock, and line shaft 4 is connected with motor.One side of driven shaft support 3 is provided with driven shaft 6, and main drive shaft 5 and driven shaft 6 are by driving-belt 7 interlocks, fixedlys connected with dolly 8 in the two ends of driving-belt 7.Dolly 8 is installed on the slide rail 9 of fixedlying connected with pedestal, and is slidingly matched with slide rail 9 formations.
Be set with fork bearing 10 on the dolly 8, rotating shaft 11 is passed fork bearing 10 and is provided with, and an end and the angular encoder 12 of rotating shaft 11 are connected, and the other end is fixedlyed connected with the bottom of fork 13, and the top of fork 13 is equipped with disturbance box 14.Described disturbance box 14 is a cylindrical box body, and the end face of box body is transparent.The inside of disturbance box is the disturbance chamber, is placed with 3～5 steel balls 15 in the disturbance chamber, and steel ball 15 can freely roll in the disturbance chamber.Axially axial vertical with fork of rotating shaft, fork axial vertical with the bottom surface of disturbance box.
The inverted pendulum device course of work is: during original state, the fork freedom is sagging.After duty began, dolly began to slide, and by two to motions such as continuous change acceleration, fork can be put to the dolly top.In the fork motion process, form angle between fork 13 and the dolly 8, measure this angular displacement signal by angular encoder 12, as the output quantity of system, be used for the input of controller, calculate controlled quentity controlled variable, driving dolly 8 by the motor-driven box by DC servo motor moves along slide rail 9, thereby the motion of control fork, target is to make fork keep handstand state, whole process is a mobile equilibrium.For to system's input neutral signal,, thereby make the center of gravity of fork 13 obtain changing by the motion of steel ball 15 in the disturbance box 14.
Whole reversible pendulum system is by forming along the dolly 8 of guide rail movement with by the pendulum mass that rotating shaft is fixed on the dolly.At slide rail one end the pot that is used for measuring the dolly displacement is housed.Angular encoder is housed between fork 13 and the dolly 8 is used for the angle of measuring oscillating bar.Fork tilt by self and the disturbance box in a plurality of dishes that are free to slide steel ball sliding position change, thereby the center of gravity of change fork.Also can change the center of gravity of fork by the quality (promptly changing steel ball) that changes steel ball simultaneously, thereby make the center of gravity generation disturbance of inverted pendulum, parameter obtains changing, and whole inverted pendulum becomes a variable-parameter system.Correct feasible robust control algorithm can stably erect inverted pendulum in the stability margin scope, thereby has verified the feasibility of algorithm.
Claims (1)
1, fork centre-of-gravity disturbance inverted pendulum device, comprise pedestal, it is characterized in that: correspondence is provided with main drive shaft support and driven shaft support on the pedestal, the both sides of main drive shaft support are provided with the line shaft and the main drive shaft of interlock, one side of driven shaft support is provided with driven shaft, and main drive shaft and driven shaft link by driving-belt, and the two ends of driving-belt are connected with cart stationary, on the slide rail that dolly is installed in pedestal is fixedlyed connected, and constitute with slide rail and to be slidingly matched;
Be set with the fork bearing on the dolly, the setting of fork bearing is passed in rotating shaft, and an end and the angular encoder of rotating shaft are connected, and the other end is fixedlyed connected with the bottom of fork, and the top of fork is equipped with the disturbance box; Axially axial vertical with fork of rotating shaft, fork axial vertical with the bottom surface of disturbance box;
Described disturbance box is a cylindrical box body, and the end face of box body is transparent; The inside of disturbance box is the disturbance chamber, is placed with 3～5 steel balls in the disturbance chamber, and steel ball can freely roll in the disturbance chamber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008201706943U CN201323018Y (en) | 2008-12-29 | 2008-12-29 | Swing link gravity center disturbance inverted pendulum device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008201706943U CN201323018Y (en) | 2008-12-29 | 2008-12-29 | Swing link gravity center disturbance inverted pendulum device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201323018Y true CN201323018Y (en) | 2009-10-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2008201706943U Expired - Fee Related CN201323018Y (en) | 2008-12-29 | 2008-12-29 | Swing link gravity center disturbance inverted pendulum device |
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| CN (1) | CN201323018Y (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102522042A (en) * | 2011-12-08 | 2012-06-27 | 北京工业大学 | Inverted pendulum system based on electromagnetic effect |
| CN108279696A (en) * | 2018-03-22 | 2018-07-13 | 安徽合动智能科技有限公司 | A kind of plane motion inverted pendulum and its control system and control method |
| CN111646290A (en) * | 2020-06-09 | 2020-09-11 | 何德武 | Be applied to actinobacillus wheel device in electric power field |
-
2008
- 2008-12-29 CN CNU2008201706943U patent/CN201323018Y/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102522042A (en) * | 2011-12-08 | 2012-06-27 | 北京工业大学 | Inverted pendulum system based on electromagnetic effect |
| CN102522042B (en) * | 2011-12-08 | 2014-04-09 | 北京工业大学 | Inverted pendulum system based on electromagnetic effect |
| CN108279696A (en) * | 2018-03-22 | 2018-07-13 | 安徽合动智能科技有限公司 | A kind of plane motion inverted pendulum and its control system and control method |
| CN108279696B (en) * | 2018-03-22 | 2024-04-12 | 合肥中科深谷科技发展有限公司 | Plane motion inverted pendulum and control system and control method thereof |
| CN111646290A (en) * | 2020-06-09 | 2020-09-11 | 何德武 | Be applied to actinobacillus wheel device in electric power field |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20091007 Termination date: 20121229 |