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文章基本信息

  • 标题:Real Time Servo Motor Control of Single Rotary Inverted Pendulum Using Dspace
  • 本地全文:下载
  • 作者:R.Ramesh ; S.Balamurugan ; P.Venkatesh
  • 期刊名称:International Journal of Soft Computing & Engineering
  • 电子版ISSN:2231-2307
  • 出版年度:2013
  • 卷号:3
  • 期号:2
  • 页码:169-173
  • 出版社:International Journal of Soft Computing & Engineering
  • 摘要:The objective of the paper is to carry out real time experiment using state of art hardware dSPACE DS1104 R&D controller board in a laboratory education point of view. The Quanser servo plant module and dSPACE software with the DS1104 R&D controller board are used in the experiment to derive state space equation for the inverted pendulum (ROTPEN-E). The linear and nonlinear analysis of the plant gives both angles (θ and α) control variations. The LQR controller is stabilizing pendulum upright.
  • 关键词:Quanser servo plant with Rotary inverted;pendulum (SRV02); dSPACE R&D controller board (DS1104);State space equations; LQR control.
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