Aguilar Luis T, Ortega José A, Ferreira Alejandra
Instituto Politécnico Nacional, CITEDI, Ave. Instituto Politécnico Nacional 1310 Col. Nueva Tijuana, Tijuana, B.C., 22435, Mexico.
CONACyT-Instituto Politécnico Nacional, Ave. Instituto Politécnico Nacional 1310 Col. Nueva Tijuana, Tijuana, B.C., 22435, Mexico.
ISA Trans. 2022 Feb;121:306-315. doi: 10.1016/j.isatra.2021.04.015. Epub 2021 Apr 17.
Solving the orbital stabilization of a class of underactuated systems near its open-loop unstable equilibrium point is a challenging task but useful in repetitive tasks. This paper addresses the control problem of an inverted cart-pendulum's motion driven by a two-relay controller. This controller is tuned to set the desired amplitude and frequency using the locus of the perturbed relay system, which is a frequency-domain method. We solved the periodic motion of the pendulum occurring in its open-loop unstable equilibrium point. The experimental results showed that the proposed two-relay controller forced the pendulum into a periodic motion around the upright position.
解决一类欠驱动系统在其开环不稳定平衡点附近的轨道稳定问题是一项具有挑战性的任务，但在重复任务中很有用。本文研究了由双继电器控制器驱动的倒立小车-摆的运动控制问题。该控制器通过使用受扰继电器系统的轨迹进行调整，以设定所需的振幅和频率，这是一种频域方法。我们解决了摆锤在其开环不稳定平衡点处出现的周期性运动问题。实验结果表明，所提出的双继电器控制器迫使摆锤在直立位置周围做周期性运动。
