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Стабилизация обратного маятника на двухколесном транспортном средстве

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dc.contributor.author Ряжских, В.И.
dc.contributor.author Семенов, М.Е.
dc.contributor.author Рукавицын, А.Г.
dc.contributor.author Канищева, О.И.
dc.contributor.author Демчук, А.А.
dc.contributor.author Мелешенко, П.А.
dc.contributor.author Ryazhskih, V.I.
dc.contributor.author Semenov, M.E.
dc.contributor.author Rukavicin, A.G.
dc.contributor.author Kanishcheva, O.I.
dc.contributor.author Meleshenko, P.A.
dc.date.accessioned 2020-02-26T09:14:35Z
dc.date.available 2020-02-26T09:14:35Z
dc.date.issued 2017
dc.identifier.citation Стабилизация обратного маятника на двухколесном транспортном средстве / В.И. Ряжских и др. // Вестник ЮУрГУ. Серия: Математика. Механика. Физика. 2017. Т. 9, № 3. С. 41-50. DOI: 10.14529/mmph170306. Ryazhskih V.I., Semenov M.E., Rukavicin A.G., Kanishcheva O.I., Demchuk A.A., Meleshenko P.A. Stabilization of inverted pendulum on a two-wheeled vehicle. Bulletin of the South Ural State University. Series: Mathematics. Mechanics. Physics. 2017, vol. 9, no. 3, pp. 41-50. (in Russian). DOI: 10.14529/mmph170306 ru_RU
dc.identifier.issn 2075-809Х
dc.identifier.issn 2409-6547
dc.identifier.uri http://dspace.susu.ru/xmlui/handle/0001.74/27028
dc.description В.И. Ряжских1, М.Е. Семенов2, А.Г. Рукавицын3, О.И. Канищева4, А.А. Демчук4, П.А. Мелешенко3 1 Воронежский государственный технический университет, г. Воронеж, Российская Федерация 2 Воронежский государственный архитектурно-строительный университет, г. Воронеж, Российская Федерация 3 Воронежский государственный университет, г. Воронеж, Российская Федерация 4 Военный учебно-научный центр Военно-воздушных сил «Военно-воздушная академия имени профессора Н.Е. Жуковского и Ю.А. Гагарина», г. Воронеж, Российская Федерация E-mail: ryazhskih_vi@mail.ru. V.I. Ryazhskih1, M.E. Semenov2, A.G. Rukavicin3, O.I. Kanishcheva4, A.A. Demchuk4, P.A. Meleshenko3 1 Voronezh State Technical University, Voronezh, Russian Federation 2 Voronezh State Architecture and Engineering University, Voronezh, Russian Federation 3 Voronezh State University, Voronezh, Russian Federation 4 Military Educational and Scientific Center of the Air Force “N.E. Zhukovsky and Y.A. Gagarin Air Force Academy”, Voronezh, Russian Federation E-mail: ryazhskih_vi@mail.ru ru_RU
dc.description.abstract Рассматривается механическая система, состоящая из двухколесной тележки, на оси которой располагается обратный маятник. Задача заключается в формировании такого управляющего воздействия, формируемого по принципу обратной связи, которое, с одной стороны, обеспечивало бы заданный закон движения механического средства, а с другой, стабилизировало бы неустойчивое положение маятника. A mechanical system consisting of a two-wheeled vehicle with a fixed inverted pendulum is considered. The objective lies in forming such control action which, on the one hand, would provide movement of the system on the specified trajectory, and on the other hand would provide stabilization of the inverted pendulum in a neighborhood of unstable equilibrium position. Characteristic feature of the set objective is the fact that the control action is performed with the use of a hysteretic connection formalized by equations of the Bouc-Wen model. Equations of the researched system’s model are divided into two independent subsystems of the second and the fourth order, which describe rotational and longitudinal modes of motion correspondingly. Control action on each of the subsystems, formed on the basis of the feedback principle, is constructed according to the relay law; at that in the phase space of each subsystem linear manifolds which determine switching surfaces are constructed. Theorems that ascertain the presence of errors in the assumptions made, which determine the discrepancy between the desired and simulated laws of the vehicle motion, as well as the deviation of the pendulum from the unstable equilibrium position asymptotically tend to zero, are formulated and proved in the article. In proving the theorems, the apparatus of Lyapunov functions was used. As it is shown in the article, the presence of the hysteresis component in the feedback loop makes manageability of the system more difficult, and as a result, in this case we can only talk about limitation of errors of the discrepancy and the dissipative motion of the pendulum. Results of computational simulation of dynamics of the system under study both under conditions of hysteresis connections and without them, which illustrate the proved theorems, are given in the article. ru_RU
dc.description.sponsorship Работа выполнена при поддержке РФФИ грант № 16-08-003. ru_RU
dc.language.iso other ru_RU
dc.publisher Издательский центр ЮУрГУ ru_RU
dc.relation.ispartof Вестник ЮУрГУ. Серия Математика. Механика. Физика
dc.relation.ispartof Vestnik Ûžno-Ural’skogo gosudarstvennogo universiteta. Seriâ Matematika. Mehanika. Fizika
dc.relation.ispartof Bulletin of SUSU
dc.relation.ispartofseries Математика. Механика. Физика;Том 9
dc.subject УДК 517.9 ru_RU
dc.subject механическая система ru_RU
dc.subject двухколесное транспортное средство ru_RU
dc.subject обратный маятник ru_RU
dc.subject люфт ru_RU
dc.subject стабилизация ru_RU
dc.subject управление ru_RU
dc.subject mechanical system ru_RU
dc.subject two-wheeled vehicle ru_RU
dc.subject inverted pendulum ru_RU
dc.subject stabilization ru_RU
dc.subject control ru_RU
dc.title Стабилизация обратного маятника на двухколесном транспортном средстве ru_RU
dc.title.alternative Stabilization of inverted pendulum on a two-wheeled vehicle ru_RU
dc.type Article ru_RU
dc.identifier.doi DOI: 10.14529/mmph170306

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