3重倒立振子の安定化制御

概要

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The purpose of this study is to design and realize a digital control svstem stabilizing a triple inverted pendulum. The stabilizing control of a triple inverted pendulum is much more difficult than a single or double inverted pendulum. There is very little study on this control. The system tested consists of a triple inverted pendulum, a cart, an electric servo motor and a personal computer PC-9801RA. The results obtained can be summarized as follows : 1) Stabilized zone of a single, double and triple inverted pendulum are calculated for a maximum cart position of 0.9 m. When coulomb friction is ignored, the stabilized zone of a triple pendulum exists, but is is much smaller than those of a single or double pendulum. When coulomb friction is considered, there is no stabilized zone of a triple pundulum. 2) When a maximum cart position is 1.8 m and control input voltage compensating coulomb friction is 0.12 v, feedback gains with which a triple inverted pendulum can be stabilized for 12 seconds can be obtained by a computer simulation. In a real control system, however, a triple inverted pendulum can not be stabilized even for one second. Thus it is understood that the real time stabilizing control of a triple inverted pendulum is very difficult because of existing nonlinear friction.
岡山理科大学の論文