| 引用本文: | 何介圭 ,钱维铁.用单板机控制的平行倒立摆系统[J].控制理论与应用,1989,6(2):119~123.[点击复制] |
| He Jiegui, Qian Weitie.Single-board Computer Control of Parallel Inverted Pendulum System[J].Control Theory and Technology,1989,6(2):119~123.[点击复制] |
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| 用单板机控制的平行倒立摆系统 |
| Single-board Computer Control of Parallel Inverted Pendulum System |
| 摘要点击 946 全文点击 420 投稿时间：1988-03-16 修订日期：1989-03-03 |
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| DOI编号 |
| 1989,6(2):119-123 |
| 中文关键词 |
| 英文关键词 |
| 基金项目 |
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| 中文摘要 |
| 本文介绍了在国内由作者首次实现的用8位单板机控制的平行倒立摆系统，它较国外同类装置[1]控制简单，价格便宜。文中还介绍了该系统的数学模型，控制算式及用PC机辅助单板机控制器设计的方法。文末还给出了仿真和实验结果的比较。 |
| 英文摘要 |
| The control of parallel inverted pendulum is successfully realized. An 8-bit single-board computer controller is used. Compared with the existing system abroad[1], the control method and means we employed are simpler and cheaper.
The paper presents the mathematical model of the system, the control algorithms adopted and the approach of PC aided design of single-board computer controller. The comparison of step response between results of real-time control and of simulation is also given. |
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