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UDC 681.513

INVERTED PENDULUM EVALUATION PARAMETRES IN STABILIZATION SYSTEM OF ANGULAR POSITION

A. A. Voevoda, PhD (technical sciences), full professor; This email address is being protected from spambots. You need JavaScript enabled to view it.
K. M. Bobobekov, post-graduate student, NSTU; This email address is being protected from spambots. You need JavaScript enabled to view it.

The problem of estimating the parameters of the inverted pendulum on a cart in the system of angular position stabilization and control of this cart given position is investigated. The linear approximation model includes four integrators and three unknown parameters. Regulators are calculated by polynomial and represent PID – regulators. To solve the problem of estimating the parameters of the object active identification method is used which consists of setting the initial angular position of the pendulum and measuring angular position values of the pendulum and the position of the cart at predetermined times that gives three numbers (amplitudes). Identification problem thus can be reduced to establishing links between three object parameters and three values of the transients at fixed times for which it is necessary to measure the values of three amplitudes for the object with different parameter values. It is assumed that object parameters can take the
values of specified intervals that can be interpreted as a cube with a uniform grid, for each point of which it is necessary to carry out the experiment to measure three amplitudes. Results of these measurements can be represented in the form of tables or nomogram according to which it is not difficult to solve the problem of identification of object parameters. Aim of the work: Determination of pendulum parameters on the car in stabilization system using special nomograms using the method of active identification. 

Key words: evaluation of object parameters, active identification, inverted pendulum, stabilization system, polynomial synthesis method, control object, PID – regulators, variation of object parameters, special nomograms.

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