未知パラメータを有する振り子の振り上げ制御 : 第1報, 振り上げ方式の検討

概要

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Applying a torque to a pendulum at a natural position, we can bring it to an upright poisition by means of switching the direction of the torque at a suitable moment. In cases in which system parameters are known, under the condition of a small damping ratio, we can calculate the positions where the direction of the torque is switched. If the pendulum has a weight attached on its arm tip, system parameters change due to this weight. Thus, the number of switching and the switching time vary even if the same torque is applied. In this paper, we present methods which estimate a nondimensional torque in real time from positions and velocities of the pendulum using an energy diagram. Also, we give rules for switching the torque in order to bring the pendulum to an upright position.
一般社団法人日本機械学会の論文
1991-01-25