文章基本信息

标题：Real Time Servo Motor Control of Single Rotary Inverted Pendulum Using Dspace
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作者：R.Ramesh ; S.Balamurugan ; P.Venkatesh 等
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.