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 |
引用统计 | |
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 |
推荐引用方式 GB/T 7714 | 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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