How to automatically set an initial angle for balance control of a cart-pole system: an education case
Qian, Dianwei1; Yi, Jianqiang2; Zhao, Dongbin3
发表期刊INTERNATIONAL JOURNAL OF ELECTRICAL ENGINEERING EDUCATION
2013
卷号50期号:1页码:57-68
文章类型Article
摘要The cart-pole system is one of the most popular laboratory experiments for control education. Balance control of the system is usually utilised for control theory education. Inevitably, one has to set an initial pole-angle. But it is hard to accurately set the angle by hand. This paper first models the system. Then, a nonlinearity measure is introduced to analyse the control problems of the system. Afterwards, an energy-based controller is employed to automatically and accurately set the deviation for balance control, and a balance controller is subsequently utilised to stabilise the system. Physical experiments are carried out to verify the validity of this method for students.
关键词Cart-pole System Energy-based Control Nonlinearity Measure Upswing And Balance
WOS标题词Social Sciences ; Science & Technology ; Technology
关键词[WOS]INVERTED-PENDULUM ; STABILIZATION CONTROL ; FREQUENCY
收录类别SCI
语种英语
WOS研究方向Education & Educational Research ; Engineering
WOS类目Education, Scientific Disciplines ; Engineering, Electrical & Electronic
WOS记录号WOS:000327130200005
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被引频次:1[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/3858
专题复杂系统管理与控制国家重点实验室_复杂系统智能机理与平行控制团队
通讯作者Qian, Dianwei
作者单位1.North China Elect Power Univ, Sch Control & Comp Engn, Beijing, Peoples R China
2.Chinese Acad Sci, Inst Automat, Beijing, Peoples R China
3.Chinese Acad Sci, Inst Automat, State Key Lab Intelligent Control & Management Co, Beijing, Peoples R China
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Qian, Dianwei,Yi, Jianqiang,Zhao, Dongbin. How to automatically set an initial angle for balance control of a cart-pole system: an education case[J]. INTERNATIONAL JOURNAL OF ELECTRICAL ENGINEERING EDUCATION,2013,50(1):57-68.
APA Qian, Dianwei,Yi, Jianqiang,&Zhao, Dongbin.(2013).How to automatically set an initial angle for balance control of a cart-pole system: an education case.INTERNATIONAL JOURNAL OF ELECTRICAL ENGINEERING EDUCATION,50(1),57-68.
MLA Qian, Dianwei,et al."How to automatically set an initial angle for balance control of a cart-pole system: an education case".INTERNATIONAL JOURNAL OF ELECTRICAL ENGINEERING EDUCATION 50.1(2013):57-68.
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