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Pendulum rod gravitational center capable of changing into inverted pendulum

An inverted pendulum and center of gravity technology, applied in the field of experimental devices for scientific research or teaching, can solve problems that are difficult to verify the uncertainty of modern control theory, and achieve the effect of simple structure

Inactive Publication Date: 2006-08-23
HANGZHOU DIANZI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] In summary, the design parameters of existing inverted pendulums are all fixed values, which are difficult to verify the uncertainty of modern control theory

Method used

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  • Pendulum rod gravitational center capable of changing into inverted pendulum
  • Pendulum rod gravitational center capable of changing into inverted pendulum
  • Pendulum rod gravitational center capable of changing into inverted pendulum

Examples

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Embodiment Construction

[0018] like figure 1 , figure 2 , image 3 As shown, the present invention includes:

[0019] 1) The two slide rails 11 are fixed on the base 1 in parallel with the slide rail bracket 13, and the trolley 3 is installed in the two slide rails 11, and form a sliding fit with the slide rails; the driving wheel 14 and the driven wheel 15 are respectively Fixed at both ends of the base 1, the transmission belt 2 located in the two slide rails 11 bypasses the driving wheel 14 and the driven wheel 15, and the two ends of the transmission belt 2 are respectively fixed on the two sides of the trolley 3, and the DC servo motor 12 and the driving wheel 14 connections;

[0020] 2) The trolley 3 is equipped with a swing rod support 16, and the swing rod support 16 is equipped with a rotating shaft 17 that is connected to the angle encoder 4 at one end and rotated at the other end with one end of the primary swing rod 5. The other end is provided with a U-shaped support 18, and the U-s...

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Abstract

The invention discloses a variable-rocker barycentre inverted pendulum, a dolly slides on a slideway on a base; a driving wheel and a driven wheel are fixed on two ends of the base, respectively, a driving belt goes round the two wheels and two ends of the driving belt are fixed on two side surfaces of the dolly, respectively; the rocker seat of the dolly is installed with a rotating shaft with one end connected with an angle encoder and the other end connected rotationally with one end of the first-stage rocker, and a U-shaped seat at the other end of the first-stage rocker is installed with the other shaft with one end connected with the other angle encoder and the other end connected rotationally with one end of the second-stage rocker; the second-stage rocker is installed with a small DC electric machine connected with a screw rod, the screw rod is fixed on the other end of the second-stage rocker, and there is a variable-barycentre slide block held in the screw rod. A control system sends a signal to the electric machine to rotate the screw rod so as to drive the slide block to move up and down, and thus changes the rocker barycentre. Its barycentre can be arbitrarily changed in the working course, which changes the parameters of the whole system, thus providing a test platform for teaching and researching the robustness control theory.

Description

Technical field [0001] The invention relates to an experimental device for scientific research or teaching, in particular to an experimental device for an inverted pendulum with a variable center of gravity of a pendulum bar. Background technique [0002] In the past two decades, a focus of modern control theory research is how to effectively control the controlled object under the premise of uncertainty, and minimize the impact of various uncertain factors in the actual system on the control system. impact on system quality. Around this focus, modern control theory scholars have proposed many effective control system design methods, such as robust control, adaptive control, fuzzy control, intelligent control and so on. However, there is a lack of experimental verification means for the advancement of these modern control theory achievements. In the process of the development of control theory, the inverted pendulum has always been a recognized experimental verification me...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G09B25/02
Inventor 薛安克周建军王俊宏王建中林岳松
Owner HANGZHOU DIANZI UNIV
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