| 1. | This paper aims at suggesting some of the ways of the computer control of an invested double pendulum with six state variables
本文旨在介绍，用计算机控制具有六个状态变量的二节倒立摆的一些方法。 |
| 2. | The single chip system is constructed which can control the double pendulum , including forward channel , back channel and communication with computer
这个单片机系统包括前项通道、后项通道、和上位机通讯三部分。 |
| 3. | At last the author pilot study mechanical self - learning of the cart - double pendulum systems , which make the process of converting cart - double pendulum system ' s state of failure into success
最后作者对小车二级倒立摆的机器自学习进行了初步探讨，使得小车倒立摆通过机器自学习能从失败状态过渡到成功状态。 |
| 4. | In this paper , the governing differential equations of double pendulum is established with the lagrange methods , the stability margin of corresponding linear equations are obtained by the multiple scale method
采用拉格朗日方法建立参数激励双摆的控制微分方程，通过多尺度法对其线性化方程进行分析，获得稳定性边界。 |
| 5. | Through the analysis of the relevant theories on double inverted pendulum and the study on swing - up control of a double pendulum from hanging to the upright position , a sophisticated nonlinear system control strategy based on dynamic design variable optimization is presented
摘要通过对二级倒立摆系统的理论分析，研究二级摆从自然悬垂位置摆到倒立点位置的摆起控制问题，提出了基于动态设计变量优化算法的复杂非线性系统控制策略。 |
| 6. | This paper deals with swing - up and stabilizing control of the cart - doubled pendulum system . under the guidance of by human simulating intelligent control ( hsic ) theory , we studied the control characteristics for cart - double pendulum system . consequently the utilization of human ' s " motion " intelligence with careful observation and summarization of human ' s intelligent behavior can surely help us find out some simple and feasible ways for the control of cart - doubled pendulum system
本文的工作就是用仿人智能控制的思想，在已有研究成果的基础上，尤其是借鉴了仿人智能控制在单级摆摆起倒立控制方面的成功实践和李祖枢教授在小车-二级摆摆起倒立控制的前期研究经验，对小车-二级摆系统进行了深入研究。 |
| 7. | Based on above distributed simulation software of multibody system dynamics , three examples of distributed sensibility analysis , double pendulum system , planar four - bar mechanical system and slider - crank system , are numerically dealt with , the results of which indicates that the methods raised in this paper are correct
基于所完成的系统运动学分布式仿真软件，实现了双摆机构、平面四连杆机构、曲柄滑块机构的分布式灵敏度分析算例，验证了本文方法的正确性。 |
| 8. | Under the guidance of intelligent analytical methods by decomposition of the control tasks and the intelligent decoupling strategies by the proper coordination among the complicated objectives ( proposed by chen qingchun ) , following the pose adjusting phase method of the cart - doubled pendulum system （ proposed by zen ji ） , the author clearly plot out the phases of pose adjusting and stabilization in the phase - plane , using it instead of the previous control policy which plot out phases of pose adjusting and stabilization by simulative time
首次在误差相平面上对小车二级倒立摆的姿态整定阶段和稳摆阶段作出了明确的划分，并用以替代以前用仿真时间来划分姿态整定阶段和稳摆阶段的控制决策。接着将参数在线自校正的仿人智能控制算法引入小车二级倒立摆稳摆阶段，提高了它的鲁棒性和适应性。 |
| 9. | Now there are many achievements concerning about the stabilizing control of ips at the upright position with intelligent controlling method . but few about swing - up and stabilizing control of the cati - double pendulum system , which there is strong nonlinear on it and powerful coupling between cart and double pendulum
到目前为止，采用智能控制方法对倒立摆的稳定控制的研究已取得了不少成就，但对具有大范围非线性且存在强烈车摆耦合的小车倒摆的摆起倒立控制的研究还很少。 |
