外文翻译-倒立摆.doc

英 文 翻 译 系 别 自动化系 专 业 自动化 班 级 191001 学生姓名 梁季红 学 号 103581 指导教师 王 敏 The inverted pendulum 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. 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. 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). 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 known, one can however try to reconstruct the system parameters using measured data on the dynamics of the pendulum. What is it used for?Just like the broom-stick, an Inverted Pendulum is an inherently unstable system. Force must be properly applied to keep the system intact. To achieve th