Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Double-inertia wheel spatial inverted pendulum system

A technology of inertia wheel and inverted pendulum, applied in the field of inverted pendulum system, to achieve the effect of enriching structure types

Pending Publication Date: 2017-06-16
BEIJING UNIV OF TECH
View PDF9 Cites 3 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Patent Nos. CN201320135027.2, CN201110123423.9, and CN201010151221.0 respectively propose flywheel inverted pendulum systems, but the inverted pendulum system invented by the invention can only rotate the swing rod in the plane, and the swing rod has only one rotational degree of freedom, both The planar inverted pendulum system has great limitations in simulating the control of multi-freedom unstable systems, such as verticality control in rocket launch and attitude control in satellite flight.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Double-inertia wheel spatial inverted pendulum system
  • Double-inertia wheel spatial inverted pendulum system
  • Double-inertia wheel spatial inverted pendulum system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0015] The present invention will be further described below in conjunction with the accompanying drawings.

[0016] like figure 1 , 2 , 3, the embodiment of the present invention provides a double inertia wheel space inverted pendulum system comprising a support 1, a swing rod 2, a fixed frame 3, two sets of inertial wheel assemblies, two sets of counterweight assemblies, and a control box 9, wherein, One end of the swing rod 2 is connected with the support 1 through a ball pin pair, and the other end of the swing rod 2 is installed with a fixed frame 3; the inertia wheel assembly includes a motor 6, a coupling 7, and an inertia wheel 8, and the motor 6 is installed on the fixed frame 3, the inertia wheel 8 is fixed with the output shaft of the motor 6 through the coupling 7; the counterweight assembly includes a counterweight 4 and a lock nut 5, the center of the counterweight is provided with a screw hole 41, and the fixed frame is provided with Screw rod 31, counterweigh...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a double-inertia wheel spatial inverted pendulum system, which comprises a bracket, a pendulum rod, a fixing frame, two groups of inertia wheel assemblies, two groups of counterweight assemblies and a contra box, wherein one end of the pendulum rod is connected with a support through a sphere-pin pair, and the other end is provided with the fixing frame; motors are arranged on the fixing frame, and the inertia wheels are fixed with the output shafts of the motors through couplings; the two groups of inertia wheel assemblies and the pendulum rod are mutually orthogonal in space; and mounting positions of the two groups of counterweight assemblies and the inertia wheel assemblies on the fixing frame mutually form 180 DEG relative to the center shaft of the pendulum rod. By adopting the technical scheme of the invention, compared with a common flywheel inverted pendulum, the double-inertia wheel spatial inverted pendulum of the invention doubles the degree of freedom, the dynamic model is more complicated, the control difficulty is larger, the structure type of the inverted pendulum system is enriched, the system can particularly serve as an attitude balance control device for a multi-degree of freedom and instable system, such as verticality control in rocket launching and attitude control simulation in satellite flight.

Description

technical field [0001] The invention belongs to an inverted pendulum system, in particular to a space inverted pendulum system with double inertia wheels. Background technique [0002] The inverted pendulum control system is a complex, unstable and nonlinear system, which is a classic research object in the field of control and an ideal experimental platform for teaching control theory and carrying out various control experiments. Through the balance control of the inverted pendulum, it can be used to test the ability of the control method to deal with nonlinear and unstable problems. verticality control in satellite flight and attitude control in satellite flight, etc. [0003] Patent Nos. CN201320135027.2, CN201110123423.9, and CN201010151221.0 respectively propose flywheel inverted pendulum systems, but the inverted pendulum system invented by the invention can only rotate the swing rod in the plane, and the swing rod has only one rotational degree of freedom, both The ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): G05D1/08
CPCG05D1/0816
Inventor 阮晓钢陈志刚李元
Owner BEIJING UNIV OF TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com