一軸二輪倒立振子の特性検証による倒立動作の安定化

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  • Stabilization of the inverted operaion by performance veritification of two-wheeled inverted pendulum uniaxial
  • イチジク ニリン トウリツ フリコ ノ トクセイ ケンショウ ニ ヨル トウリツ ドウサ ノ アンテイカ

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This paper describes the control operation verification and improvements of two-wheeled inverted pendulum uniaxial. The purpose of this experimental study is to show a significant content of control with an inverted moving from the point of software. Motion control model of the inverted pendulum which is used in this research is created in terms of the state equations, the operation amount, the servo system and the state observer. In addition, the feedback gain is calculated by the pole placement method and the optimal regulator. The simulation is verified with the actual operation. As a result, inverted moving stable operation was shown to be achieved by not only reveal the elements of the operation and control the output voltage of the motor, weighting is performed on them．

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