单级倒立摆毕业设计外文翻译

单级倒立摆毕业设计外文翻译内容摘要：

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. An inverted pendulum is a physical device consisting in a cylindrical bar (usuallyof 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.Thebar would naturally tend to fall down from the top vertical position, which is a position ofunsteady equilibrium. Thegoaloftheexperimentistostabilizethependulum(bar)onthetopverticalposition.Thisis possiblebyexertingonthecarriagethroughthemotoraforcewhichtendstocontrastthe39。 free39。 pendulumdynamics.Thecorrectforcehastobecalculatedmeasuringtheinstantvaluesofthe horizontalpositionandthependulumangle(obtained.throughtwopotentiometers). Thesystempendulum 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. Theinvertedpendulumisatraditionalexample(neitherdifficultnortrivial)ofacontrolled system.Thusitisusedinsimulationsandexperimentstoshowtheperformanceofdifferent controllers(. PIDcontrollers,statespacecontrollers,fuzzycontrollers....). TheRealTimeInvertedPendulumisusedasabenchmark,totestthevalidityandthe performance of thesoftwareunderlyingthestatespacecontrolleralgorithm,.theused operating system.Actually the algorithm is implement form the numerical point of viewasasetofmutuallycooperatingtasks, which are periodically activated by the kernel, and which performdifferentcalculations.Thewayhow these tasks are activated (. The activation order) iscalledschedulingofthetasks.Itisobviousthata correct scheduling of each task is crucial foragoodperformanceofthecontroller,andhenceforan effective pendulum stabilization. Thus theinvertedpendulumisveryusefulindeterminingwhethera particular scheduling choice is betterthananotherone,inwhichcases,towhichextent,andsoon. Modelinganinvertedtheinvertedpendulumsystemismodeledasalinear system,andhencethemodelingisvalidonlyforsmalloscillationsofthependulum. Withtheuseoftrapezoidalinputmembershipfunctionsandappropriatepositionand inferencemethods,itwillbeshownthatitispossibletoobtainrulemembershipfunctionswhich areregionwiseaffinefunctionsofthecontrollerinputvariable.Weproposealinear defuzzification algorithmthat keeps this regionwise affine structure and yields a piecewise affine controller. Aparticularand systematic parameter tuning method will be given which allows turning thiscontrollerintoavariable structurelike controller. We will pare this regionwise affine controllerwithaFuzzyandVariable Structure Controller through the application toaninvertedpendulumcontrol. Wewillbeginwithsystemdesign。 analyzingcontrolbehaviorofatwostageinverted pendulum. We will then show how to design a fuzzy controller for the system. We will describe a controlcurveand how it differs from that of conventional controllers when using a fuzzycontroller.Finally,wewill discuss how to use this curve to define labels and membership functionsforvariables,aswellashowtocreaterulesforthecontroller. Intheformulationofanycontrolproblemtherewilltypicallybediscrepanciesbetweenthe actualplantandthemathematicalmodeldevelopedforcontrollermismatchmaybe dueto unmodelled dynamics, variation in system parameters or the approximation of plex plant behavior by a straightforward engineer must ensure that the resulting controller has theabilityto produce the required performance levels in practice despite such plant/modelmismatches.Thishasledtoanintenseinterestinthedevelopmentofsocalledrobustcontrolmethodswhichseektosolvethis problem. One particular approach to robust control controllerdesignisthesocalledslidingmode controlmethodolog. T。