inverted pendulum 中文意思是什麼
inverted pendulum
解釋
倒擺-
The research of the inverted pendulum can come down to the research of the multi - variable and absolutely unstable system, so its control methods and ideas have comprehensive purposes to the general industry process, and the research of control methods also possess introductive significances
對倒立擺系統的研究可歸結為對多變量絕對不穩定系統的研究，因此其控制方法和思路對處理一般工業過程具有廣泛的用途，其控制方法的研究也具有指導意義。 -
An idea, simulating the fuzzy model by establishing the fuzzy model and fuzzy control rule of the controlled object is proposed. generally, it is difficult to acquire the accurate mathematical description of the controlled object. a dynamic modulating factor is introduced in the designing of the fuzzy controller so as to improve the precision of the fuzzy control. and a more convenient defuzzify calculation method is adopted. the cart and the single inverted pendulum are taken so as to illustrate the simulation result. in addition, the detailed qualitative analysis of the fuzzy system is achieved. a kind of common method of qualitative analysis is proposed. it can be used to analyse the fuzzy system and describe the behavior of the system state precisely in the phase plane. the simulating results illustrated the method is feasible and available
提出了在難以精確描述控制對象數學模型的情況下，通過建立控制對象的模糊模型來確定系統的模糊控制規則，並對模糊系統進行模擬分析的思想.利用連續系統定性分析的思想，提出一種對模糊系統進行定性分析的可行方法，在相平面內較為準確地刻畫模糊系統的動態行為.在模糊控制器的設計中，引入動態調節因子來提高模糊控制的精度，並採用了一種便於實際運算操作的解模糊運算方法.在一種簡單的控制對象情況下進行了具體的模擬計算，得到較理想的控制效果.此外對具有精確數學模型的一級倒立擺系統進行此種模糊控制，亦取得很好的模擬結果 -
The double inverted pendulum system is a nonlinear and unstable control problem. obviously the study of a typical, nonlinear and unstable system has the more important meaning on both the theory and methodology. modeling for the double inverted pendulum has the instructional function to study the stability of the system
顯然對一個典型的非線性、不穩定系統的研究成果無論在理論上或是在方法論上都有重要的意義，而二級倒立擺數學模型的建立對研究其穩定性具有指導作用。 -
In this paper, a robust control algorithm based on sliding mode is employed to control a triple inverted pendulum system with single input
提出了一種基於全程滑模的變結構控制方法對具有單控制輸入的三級倒立擺系統進行平衡控制的綜合設計和成功的實驗研究 -
The model of the inverted pendulum is : as an equipment, low cost, simple machinery, easy to perform all kinds of controls in simulation and digital ; as a controlled object, quite complex, high orders, instability, non - linearity, strong coupling system. we can keep it stable through some control method
倒立擺的典型性在於：作為一個裝置，其成本低廉，結構簡單，便於模擬，數字實現不同方式控制；作為被控對象，又相當復雜，是高階次、不穩定、非線性、強耦合系統，只有採取行之有效的控制方法方能使之穩定。 -
The inverted pendulum is a classical control problem of balancing a stick vertically on a linear track cart
倒立擺控制是一個經典的控制平衡問題。 -
Swing up control of double inverted pendulum system
二級倒立擺的擺起控制 -
Second, the author introduced a new stability region, and programmed a trajectory of variable zmp, which was defined as a cosine curve ; the author also designed a cog - compensated method to keep the cog ’ s height ; based on dynamics of 3 - d inverted pendulum, the author educed the cog ’ s trajectory equation of the robot in the three - leg - support phase, and used third - order splint function to ensure the acceleration continuity of the robot ’ s cog in the four - leg - support phase. at last, walking patterns of the corresponding gait are generated through programmer design
然後，提出了一種新的支撐區域選取方法，採用了按餘弦規律變化的zmp運動軌跡;為了維持機器人行走時重心高度不變，採用了一套有效的質心高度保持方法;基於三維倒立擺模型，推導了機器人三腳支撐期質心運動軌跡方程;採用三次樣條曲線插值規劃了四足支撐期加速度連續的質心運動軌跡。 -
Based on variable zmp and dynamics of 3 - d inverted pendulum, we educed the cog ( center of gravity ) ’ s trajectory equation of the robot in the single - support phase and transition of locomotion phase. and we used third - order spline function to ensure the acceleration continuity of the robot ’ s cog in the double - support phase. thereby, the smooth trajectory of cog was gained by planning
由基於可變zmp和三維倒立擺的動力學原理，推導出了單腳支撐期內和步行方式轉換期間機器人的質心運動軌跡方程;並採用三次樣條曲線來保證機器人在雙腳支撐期質心加速度的連續性，從而由規劃得到了光滑的質心運動軌跡。 -
The h state - feedback control theory based on riccati equation is used to calculate the state - feedback control law for the double inverted pendulum
然後採用基於riccati方程的h _狀態反饋控制理論為二級倒立擺系統設計狀態反饋控制器。 -
Fuzzy control for a double inverted pendulum
諧振直流環節逆變器的過零控制 -
Then, this paper gains simulating human intelligent control ( hsic ) rule of the inverted pendulum from the analysis of the system
接著利用仿人智能控制理論，在對一級與二級倒立擺系統進行分析的基礎上，得到倒立擺系統的仿人智能控制律。 -
At last the paper discuss the non - linearity factor and disturbance factor in the inverted pendulum system, at the same time illuminate some rules in the contrive electrocircuit board
最後本文討論了倒立擺系統的非線性因素和干擾因素，以及對電路板設計時應注意的問題。 -
The control of the two - stage inverted pendulum is a traditional question in the control field. the two - stage inverted pendulum system is a multivariable, highly nonlinear and absolutely unstable dynamic system
倒立擺問題是非線性動態系統控制中一個經典問題，倒立擺系統是一種非線性、多變量和絕對不穩定的系統。 -
This paper establishes the mathematic model according to the second law of newton and the foundation of the dynamics and analyses respective the force of cart and pendulum adopted the concept of " the equivalent cart " to linearization. the paper specialize the control ability of pendulum system using linear system theory and perform the control of the inverted pendulum applying state feedback theory through pole collocate
本文首先利用牛頓第二定律及相關的動力學原理建立二級倒立擺的數學模型，對小車和擺分別進行受力分析，並採用等效小車的概念進行線性化處理，並運用線性系統理論分析了這個系統的能控性，提出了應用狀態反饋理論，通過極點配置實現對倒立擺的控制。 -
Inverted pendulum system ( ips ) is a type of typical complex hard - control system., the research on it can be representative of that on a nonlinear, multivariable, absolute unstable system
倒立擺系統是一種典型的復雜難控系統，倒立擺的研究可歸結為對非線性多變量、絕對不穩定系統的研究。 -
Inverted pendulum system ( ips ) is a type of typical complex hard - control system. the research on it can be representative of that on a nonlinear, inllltivariahle, absolute unstable system. the method and thought for controlling it is very useful to the control theory and process control
倒立擺系統是一種典型的復雜難控系統，對倒立擺的研究可歸結為對非線性多變量、絕對不穩定系統的研究，其控制方法和思路無論對理論或實際的過程式控制制都有很好的啟迪，是檢驗各種控制理論和方法的有效的「試金石」 。 -
As the legged system has a similar dynamics to that of three - dimensional inverted pendulum mode, whose supporting point is equivalently located at the zmp, what is more, there is dynamical relationship between the zero moment point ( zmp ) and the center of gravity ( cog ), so this paper proposed the method that controls the cog of the whole humanoid body system in real - time through the 3 - d inverted pendulum based on variable zmp : first, the irregular terrain analyzed and described, the author proposed an usual obstacles - spanning method, based on the position and the shape of obstacles, the author programmed the smooth trajectory of anklebones
由於機器人的腿系統和三維倒立擺模型有著相似的動力學特徵，模型的支撐點就是機器人的零力矩點zmp ，另外零力矩點zmp和重心cog之間存在著動態關系，本文採用基於可變zmp的三維倒立擺動力學原理來對類人猿機器人進行質心軌跡生成。首先，通過對復雜地況進行分類統一描述，提出了一套通用的越障軌跡規劃方法，結合復雜地況下障礙的位置和形狀，規劃了機器人連續的踝關節軌跡。 -
The method of fuzzy modeling can be taken as a good candidate of this problem in this thesis, the inverted - pendulum system is firstly analyzed by using t - s fuzzy model due to its property of arbitrary approximation for the non - linearity. based on the parameters identification, simulations of system are made by using fuzzy logic toolbox of matlab. the results of comparison with lq approach show the performance improvement in the aspects of overshoot and fast response
本文首先利用模糊模型的非線性逼近能力，採用t - s模糊模型對小車-倒擺控制系統分析並實現了該系統的模糊建模及模糊模型各部分參數的辯識，在matlab模擬環境下藉助其模糊邏輯工具箱進行了系統的模擬，與採用線性二次最優控制的系統模擬結果進行比較，改善了系統超調量及快速響應性。 -
Triple inverted pendulum is a mechanical idealization which poses an interesting and difficult problem in control
三級倒立擺系統被公認為自動控制理論中的一個典型而又具有挑戰性試驗設備。
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