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Synchronous control of the parallel dual inverted pendulum system driven by linear servomotors

机译：直线伺服电机驱动的并联双倒立摆系统的同步控制

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This study proposes a novel parallel dual inverted pendulum system (PDIPS), which consists of a pair of parallel linear servomotors with each carrying an inverted pendulum (IP). The potential applications of the PDIPS include transportation, power-aided tools and rehabilitation. For the two inverted pendulums to move in synchronization, the control problem combines the classical IP control issue and the synchronous tracking control of the two linear motors. Hence, this study aims to develop a control scheme to achieve the balancing of both individual IPs and their synchronization for the PDIPS. Simulation and experimental results show the feasibility of the proposed control scheme for the PDIPS.

机译：这项研究提出了一种新颖的并联双倒立摆系统（PDIPS），该系统由一对平行的线性伺服电机组成，每个电机都带有一个倒立摆（IP）。 PDIPS的潜在应用包括运输，电动工具和修复。对于两个倒立摆同步运动，控制问题结合了经典的IP控制问题和两个直线电机的同步跟踪控制。因此，本研究旨在开发一种控制方案，以实现PDIPS中各个IP及其同步的平衡。仿真和实验结果表明了所提出的PDIPS控制方案的可行性。

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《》|2005年|P.157-161|共5页
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Shen; B.H.; Hsu; G.L.; Tsai; M.C.; Hsieh; M.F.; Wu; M.C.; Chiang; C.R.;
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中图分类工业技术;
关键词
linear synchronous motors; machine control; motor drives; nonlinear control systems; pendulums; servomotors; linear servomotors; parallel dual inverted pendulum system; power-aided tools; synchronous control; tracking control; transportation;

机译：线性同步电动机;机器控制;电动机驱动器;非线性控制系统;摆锤;伺服电动机;线性伺服电动机;并联双倒立摆系统;电动工具;同步控制;跟踪控制;运输;

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Synchronous control of the parallel dual inverted pendulum system driven by linear servomotors

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