ELECTRO PNEUMATIC CONTROL SYSTEM FOR INVERTED PENDULUM

被引：1

作者：

Poplawski, Krzysztof ^{[1
]}

Ambroziak, Leszek ^{[1
]}

Kondratiuk, Miroslaw ^{[1
]}

机构：

[1] Bialystok Tech Univ, Fac Mech Engn, Dept Robot & Mechatron, Ul Wiejska 45C, PL-15351 Bialystok, Poland

来源：

ACTA MECHANICA ET AUTOMATICA | 2020年 / 14卷 / 02期

关键词：

Inverted pendulum; pneumatic actuator; inverted pendulum control; encoder; stabilization;

D O I：

10.2478/ama-2020-0013

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

The paper concerns the inverted pendulum control system with using pneumatic cylinder. A mathematical model of the pendulum used to derive the LQG controller was presented. Prepared laboratory stand was presented and described in detail. The main purpose of the work was experimental researches. A number of control process tests were conducted with variable model parameters such as additional mass, injected disturbances and so on. The results were shown on the time plots of the control object states.

引用

页码：91 / 97

页数：7

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