Control method for acrobatic motion of pendulums of under-actuated double pendulum system

A technology of motion control and underactuation, applied in the direction of adaptive control, electrical program control, general control system, etc., can solve the problems of underactuation, large-scale nonlinear control, complex target tasks, etc.

Inactive Publication Date: 2006-12-27
CHONGQING UNIV
View PDF1 Cites 10 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, for the motion control of the pendulum from the sagging point to the inverted point, due to its characteristics of underactu...

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Control method for acrobatic motion of pendulums of under-actuated double pendulum system
  • Control method for acrobatic motion of pendulums of under-actuated double pendulum system
  • Control method for acrobatic motion of pendulums of under-actuated double pendulum system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0083] Such as Figure 8-9 As shown, an underactuated double pendulum system pendulum bar acrobatic movement control method uses the underactuated double pendulum system and the controller to decompose and control the first set of acrobatic movements that have been programmed through the program. The steps are as follows:

[0084] 1) Arrangement of a complete set of acrobatic movements and decomposition of control objectives in stages

[0085] For the first set of acrobatic movements that have been compiled by the computer to control the target, according to the sequence of their movements (such as Figure 8 shown), using the control method of combining open and closed loops and combining positive and negative feedback, the control target of this set of acrobatic movements is decomposed into 15 stages of control targets through the program, as shown in Figure 9 As shown, and fifteen sub-controllers corresponding to fifteen stage-by-stage control targets are set, the method s...

Embodiment 2

[0120] Such as Figure 10-11 As shown, an underactuated double pendulum system pendulum bar acrobatic movement control method uses the underactuated double pendulum system and the controller to decompose and control the programmed second set of acrobatic movements through the program as follows:

[0121] 1) Decomposition of control targets for a complete set of acrobatic movements

[0122] For the second set of complete sets of acrobatic movements controlled by the computer, according to the sequence of their movements (such as Figure 10 shown), using the control method of combining open and closed loops and combining positive and negative feedback, the control target of this set of acrobatic movements is decomposed into 15 stages of control targets through the program, as shown in Figure 11 As shown, and fifteen sub-controllers corresponding to fifteen stage-by-stage control targets are set, the method steps of decomposing a complete set of acrobatic action control targets...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention relates to a method for controlling the swing stem acrobatic operation of passive driving dual-swing system, wherein the invention uses passive driving dual-swing system, based on the operation character of acrobatic actor, simulates the motion intelligence of human body; uses the motion inertia of swing rod to stepped control the acrobatic motion formed by balance position and motion altitude of dual swing rods; the total controller is formed by connected sub controllers relative to each step control target; the total controller is programmed into program control code with real-time operation, to be input into relative computer control system, and the output control signal via servo motor driver is amplified, to control the motion of servo motor, to drive the small car to drive two swing rods, to complete variable acrobatic motions.

Description

1. Technical field [0001] The invention belongs to the technical field of control of an underactuated system, in particular to a motion planning and control method for a double pendulum of an underactuated double pendulum system. 2. Background technology [0002] In the field of control, the inverted pendulum is a recognized experimental device for testing control theory. As the application number 02257287.2 disclosed "four-stage inverted pendulum tester", it is mainly composed of four-stage fork, base, transmission belt, dolly, slide rail, encoder, servo motor and the like. After the experimental instrument starts to work from the initial state (that is, artificially place the four-stage swing rods in the vertical upward state), the encoders connected to the swing rods at all levels detect the angle between each swing rod and the vertical direction, and measure it. The result is transmitted to the controller (namely the "adaptive fuzzy controller with variable universe" di...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G05B19/02G05B13/04
Inventor 李祖枢张华但远宏谭智
Owner CHONGQING UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap