Because the equation has a strong coupling and nonlinear form, it is hard to find out a resolution . then we simplify a double lines pendulum to a spherical pendulum model and set up its mathematical model 由于它具有強耦合性和強非線性,很難求出解析解,因此又將雙線擺模型進一步簡化成為球面擺模型,并建立了相應的數(shù)學模型。
We explore a creative teaching method . by making use of harmonic oscillator model and single pendulum model . single pendulum model is good for learners to find a solution to a problem, and it helps to forming good cognitive structure 重點是利用彈簧振子和單擺兩個模型對《機械振動》單元教學進行的新探索,同時介紹了利用單擺模型幫助學生解決物理問題,形成良好知識結構的實例。
We explore a creative teaching method . by making use of harmonic oscillator model and single pendulum model . single pendulum model is good for learners to find a solution to a problem, and it helps to forming good cognitive structure 重點是利用彈簧振子和單擺兩個模型對《機械振動》單元教學進行的新探索,同時介紹了利用單擺模型幫助學生解決物理問題,形成良好知識結構的實例。
Aiming at mamdani fuzzy control rule, rule self-organizing fuzzy control method based on adjustment rules was put forward . then performance index was inducted into fuzzy control design process, and rule self-organizing fuzzy control method reference model was put forward . for those fuzzy controllers using t-s rule, a kind of t-s rule clustering obtain method based on matrix input was put forward, and the obtain process was illustrated by inverted pendulum model control simulation 其次,研究了模糊控制規(guī)則的自動獲取方法,針對mamdani型模糊控制規(guī)則,提出了基于校正規(guī)則的精確規(guī)則雙階段自組織模糊控制方法;將設計指標直接引入到模糊控制器設計過程中,提出了基于參考模型的精確規(guī)則雙階段自組織模糊控制方法;另外,對于使用t-s型模糊控制規(guī)則的模糊控制器,提出一種基于向量輸入的t-s模糊控制規(guī)則聚類獲取方法,針對倒立擺非線性控制問題完成了控制仿真。
Two-wheeled self-balancing robot based on the inverted pendulum model belongs to the category of the wheeled robots and combines with the idea of autonomous moving . the robot is small in mechanism and can make a flexible motion . so it is fit for tasks in narrow and dangerous space and has a wide foreground both in civilian and military application 基于倒立擺模型的兩輪自平衡機器人屬于輪式機器人的范疇,并結合了自主移動的思想,其體積小、結構簡單、運動靈活,適于在狹小和危險的空間內(nèi)工作,在民用和軍事上有著廣泛的應用前景;同時由于其不穩(wěn)定的動態(tài)特性,兩輪自平衡機器人成為驗證各種控制算法的理想平臺,具有重要的理論意義。