环形倒立摆的应用------外文翻译.doc

The inverted pendulum Key words: inverted?pendulum, modeling, PID?controllers,? Fuzzy?controllers,?state?space?controllers What?is?an?Inverted?Pendulum??Remember?when?you?were?a?child?and?you?tried?to?balance?a? broom-stick?or?baseball?bat?on?your?index?finger?or?the?palm?of?your?hand??You?had?to?constantly?adjust?the?position?of?your?hand?to?keep?the?object?upright.?An?Inverted?Pendulum?does?basically?the?same?thing.?However,?it?is?limited?in?that?it?only?moves?in?one?dimension,?while?your?hand?could?move?up,?down,?sideways,?etc.?Check?out?the?video?provided?to?see?exactly?how?the?Inverted?Pendulum?works. 倒立摆是什么还记得当你是个孩子时你曾用你的食指或者掌心设法去平衡一把扫帚柄或者棒球棍吗？你必须不断地调整你?的手的位置以保持对象的垂直。一个倒立摆在本质上就是做相同的事情。然而，它会受限制因为它只能在一?定范围内移动，虽然你的手可以上升下降、斜向一边等等。检查录象提供的画面来观察倒立摆是如何确切?地工作的。 ?An?inverted?pendulum?is?a?physical?device?consisting?in?a?cylindrical?bar?(usually?of?aluminum)?free?to?oscillate?around?a?fixed?pivot.?The?pivot?is?mounted?on?a?carriage,?which?in?its?turn?can?move?on?a?horizontal?direction.?The?carriage?is?driven?by?a?motor,?which?can?exert?on?it?a?variable?force.?The?bar?would?naturally?tend?to?fall?down?from?the?top?vertical?position,?which?is?a?position?of?unsteady?equilibrium.? 一个倒立摆是个物理设备它包括一个圆柱体的棒子（通常是铝的）可以在一个支点周围振荡。这个支点是安在一个车架上，它的转动方向是水平的偏转。小车是由一个马达控制的，它可以运用于一个变力。棒子会有自然的趋势从最高的竖直位置下落，那是一个不稳定的平衡位置。 The?goal?of?the?experiment?is?to?stabilize?the?pendulum?(bar)?on?the?top?vertical?position.?This?is?possible?by?exerting?on?the?carriage?through?the?motor?a?force?which?tends?to?contrast?the?free?pendulum?dynamics.?The?correct?force?has?to?be?calculated?measuring?the?instant?values?of?the?horizontal?position?and?the?pendulum?angle?(obtained?e.g.?through?two?potentiometers).? ????实验的目标是使摆（棒子）稳定在最高的竖直位置。这是有可能的只要运用通过马达的小车一个力该力可以与“自由”摆的动力学抵消。这个正确的力必须通过计算测量水平偏转的瞬时值和摆的角度（获得两个电位计）。 The?system?pendulum+cart+motor?can?be?modeled?as?a?linear?system?if?all?the?parameters?are?known?(masses,?lengths,?etc.),?in?order?to?find?a?controller?to?stabilize?it.?If?not?all?the?parameters?are?k