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8 results about "Inverted pendulum" patented technology
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An inverted pendulum is a pendulum that has its center of mass above its pivot point. It is unstable and without additional help will fall over. It can be suspended stably in this inverted position by using a control system to monitor the angle of the pole and move the pivot point horizontally back under the center of mass when it starts to fall over, keeping it balanced. The inverted pendulum is a classic problem in dynamics and control theory and is used as a benchmark for testing control strategies. It is often implemented with the pivot point mounted on a cart that can move horizontally under control of an electronic servo system as shown in the photo; this is called a cart and pole apparatus. Most applications limit the pendulum to 1 degree of freedom by affixing the pole to an axis of rotation. Whereas a normal pendulum is stable when hanging downwards, an inverted pendulum is inherently unstable, and must be actively balanced in order to remain upright; this can be done either by applying a torque at the pivot point, by moving the pivot point horizontally as part of a feedback system, changing the rate of rotation of a mass mounted on the pendulum on an axis parallel to the pivot axis and thereby generating a net torque on the pendulum, or by oscillating the pivot point vertically. A simple demonstration of moving the pivot point in a feedback system is achieved by balancing an upturned broomstick on the end of one's finger.
An asynchronous non-fragile h-infinity control method and system for a rotating inverted pendulum
This invention discloses an asynchronous, non-fragile H∞ control method and system for a rotating inverted pendulum, belonging to the field of robust control technology for DC motor rotating inverted pendulums. Addressing the problems of modal asynchrony, controller gain perturbation, time-varying delay, and quantization error in DC motor rotating inverted pendulum systems, this invention proposes an asynchronous, non-fragile H∞ control framework. The main steps include: constructing a Markov jump singular perturbation system model with time-varying delay and variable quantization density; designing an asynchronous, non-fragile output feedback controller for the rotating inverted pendulum, compatible with controller gain perturbation and quantization uncertainty; and deriving the linear matrix inequality conditions through modal-dependent Lyapunov functions to ensure the system's exponential stability in finite time and to meet the preset H∞ performance index. This invention can effectively improve the robustness and stability of DC motor rotating inverted pendulums under attack and parameter perturbation scenarios.
Owner:GUILIN UNIV OF ELECTRONIC TECH
A safe navigation and localization method for bipedal robots based on discrete control barrier functions and hierarchical architecture
This invention discloses a safe navigation and localization method for bipedal robots based on discrete control barrier functions and a hierarchical architecture, belonging to the field of robot control technology. The method employs the Relative Dynamics Test (RRT) algorithm to generate a global path and combines it with a Linear Inverted Pendulum Model (LIPM) to generate a stable gait. A discrete control barrier function (D-CBF) is used to ensure obstacle avoidance in dynamic environments, and the safe control input is solved through an optimization problem. Sensor fusion technology is used for real-time localization, and moving average filtering is applied to eliminate oscillation errors caused by gait. This invention, by combining discrete control barrier functions (D-CBF) with hybrid zero dynamics (HZD), achieves high-precision navigation and safe obstacle avoidance for bipedal robots in complex environments, effectively solving the problems of insufficient stability and lack of safety in traditional methods.
Owner:PEKING UNIV SHENZHEN GRADUATE SCHOOL
Electro-hydraulic servo building robot and migration learning adaptive control method thereof
The application discloses an electro-hydraulic servo building robot and a migration learning adaptive control method thereof, and belongs to the technical field of intelligent control of building robots. The robot comprises a hydraulic system, a mechanical system and an electric control system. The hydraulic system adopts a double-pump parallel closed driving structure, is matched with an integrated valve block and an accumulator for pressure compensation and current stabilization. The mechanical system adopts an under-actuated inverted pendulum structure with rear wheels on the ground and front wheels in the air. The electric control system collects working condition information by relying on multiple sensors, and realizes working condition discrimination and safety protection through multiple sub-programs. The application introduces a DDPG migration learning algorithm, migrates network parameters and experience data obtained by training a light-load flat ground source task to a heavy-load complex target task, and quickly adapts to hydraulic nonlinear characteristics and complex working condition disturbances through a hierarchical optimization mode of freezing the bottom layer network and fine-tuning the high layer network. The application effectively improves the heavy-load carrying stability and intelligent operation level of the robot.
Owner:TONGJI UNIV
A hydraulic drive dynamic performance verification test device and method
PendingCN122170132AFluid-pressure actuator safetyFluid-pressure actuator testingData acquisitionInverted pendulum
This invention discloses a hydraulic drive dynamic performance verification test device and method, belonging to the field of hydraulic robot testing technology. The device includes a hydraulic system, an inverted pendulum hardware system, and a data acquisition and feedback system. The hydraulic system includes a pump station module and a motor module. The pendulum rod and slider in the inverted pendulum mechanism are detachable, allowing switching between full-drive and under-drive test modes by assembling and disassembling the pendulum rod. The data acquisition and feedback system includes a main control computer, a motion control card, and a servo motor driver, responsible for data acquisition and command issuance. This verification method sequentially completes the overall nonlinear modeling of the device, displacement tracking test, pendulum start-up test, steady-state zero-position test, and pulse disturbance rejection test, achieving a comprehensive quantitative evaluation of the device model accuracy, transient agility, steady-state control accuracy, and anti-interference capability. This invention can reproduce the nonlinear characteristics of hydraulic and mechanical coupling, offers convenient switching between operating conditions, and has a complete test system, providing reliable experimental support for optimizing the control strategy of hydraulically driven robots.
Owner:TONGJI UNIV
Inverted pendulum type wave energy conversion device
An inverted pendulum wave energy converter for floating structures, boats, and ships is disclosed. The device comprises an inverted pendulum structure having an inertia moment changing system and an energy conversion connection system connecting the inverted pendulum structure to a host vessel. The ability to control the inertia moment of the inverted pendulum structure with respect to the oscillation axis of the host vessel sufficiently minimizes the risk of capsizing in survival mode, maximizes the conversion of wave energy to electricity, and minimizes the oscillation amplitude of the host vessel. In boats and ships, the inverted pendulum structure is equipped with a wind-assisted propulsion system that maximizes the efficiency of clean energy recovery.
Owner:グーダスコンスタンティノス
A linear motor inverted pendulum experiment box
A linear motor inverted pendulum experiment box, including experiment box body and box cover, the box cover is hinged to install in experiment box one side, in the experiment box body respectively is provided with control mainboard device, data interface assembly and movement track assembly, the movement track assembly is installed with sliding seat structure, the support vertical tube is detachably or foldably installed in the middle of the sliding seat structure, at least one side of the sliding seat structure is provided with driving device for driving the sliding seat structure to move on the movement track assembly, an angle encoder is installed on the top of the support vertical tube, and the angle encoder is connected with a swing rod. The utility model manufacturing and use cost is lower, use is not limited by site condition, is convenient for experiment demonstration and observation, and is easy to move to different experiment places and demonstrates, and the reuse effect is good.
Owner:SHANGHAI DROIDUP CO LTD
Inverted pendulum preview tracking control method and system based on double nonlinear constraints
The application discloses an inverted pendulum preview tracking control method and system based on double nonlinear constraints, and belongs to the field of robot control. The method establishes an inverted pendulum nonlinear model, and the nonlinear term satisfies the one-sided Lipschitz and quadratic inner bounded condition; a preview expanded error system is constructed, and the tracking problem is converted into a stability problem; a state feedback or static output feedback controller architecture is selected according to the measurable information type of the system; the Lyapunov stability theory and double nonlinear constraint lemmas are used to realize the asymptotic stability and H ∞ The disturbance attenuation performance requirement is converted into a linear matrix inequality, and the optimal feedback gain and preview compensation gain are obtained by solving; finally, the gain is configured in a control unit, and a control instruction is generated in combination with real-time feedback and preview information. The application reduces the conservativeness of nonlinear control, eliminates the phase lag of time-varying signal tracking, adapts to the composite output working condition, and significantly improves the tracking accuracy and robustness of the inverted pendulum.
Owner:SHANDONG JIANZHU UNIV
A data-driven event-triggered control method for an inverted pendulum system
This invention discloses a data-driven event-triggered control method for an inverted pendulum system. The method establishes a data-based system representation of the inverted pendulum system, then designs the solution conditions for the data-based control gain K of the inverted pendulum system, and finally constructs two data-based event triggering conditions for the inverted pendulum system and demonstrates the effectiveness of the proposed method, effectively alleviating the problem of data-driven event-triggered control for inverted pendulum systems that cannot be modeled.
Owner:NANJING TECH UNIV