MODELLING OF CLASSICAL AND ROTARY INVERTED PENDULUM SYSTEMS - A GENERALIZED APPROACH

被引：22

作者：

Jadlovska, Slavka ^{[1
]}

Sarnovsky, Jan ^{[1
]}

机构：

[1] Tech Univ Kosice, Fac Elect Engn & Informat, Dept Cybernet & Artificial Intelligence, Kosice 04200, Slovakia

来源：

JOURNAL OF ELECTRICAL ENGINEERING-ELEKTROTECHNICKY CASOPIS | 2013年 / 64卷 / 01期

关键词：

inverted pendulum systems; automated mathematical modelling; Lagrange mechanics; symbolic MATLAB functions; classical double inverted pendulum; rotary single inverted pendulum;

D O I：

10.2478/jee-2013-0002

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

The purpose of this paper is to present the design and program implementation of a general procedure which yields the mathematical model for a classical or rotary inverted pendulum system with an arbitrary number of pendulum links. Lagrange equations of the second kind with an integrated Rayleigh dissipation function are employed in model design, and the energetic balance relations, derived for the base and all pendulum links in a generalized (n-link) classical and rotary inverted pendulum system, are implemented in form of symbolic MATLAB functions and a MATLAB GUI application. The validity and accuracy of motion equations generated by the application are demonstrated by evaluating the open-loop responses of simulation models of classical double and rotary single inverted pendulum.

引用

页码：12 / 19

页数：8