UNSTABLE STATES STABILIZATION OF THE REVERSE PENDULUM WITH SCREW ACTUATORS

Abstract

The subject of study in the article is the forming models' process for the angular motion of the rocker with screw electric actuators. The purpose is to develop the approach to the simplest models formation for the angular motion of the rocker with screw electric actuators as the automatic control object. Tasks: to form the physical model of rocker with screw electric actuators. Using the Lagrangian formalism develop the non-linear mathematical description of the angular motion process of a rocker with screw electric actuators. To obtain the linearized mathematical description of the automatic control object in form of state space in the cases when one sensor (angular position) and two sensors (angular position and angular velocity of the rocker) are used. To obtain the description of the automatic control object in the frequency domain using Laplace transforms. To form graphic models of the automatic control object using structural diagrams in the time and frequency domains. To analyze the functional properties of the automatic control object: stability, controllability, observability, structural and signal diagnosability in the cases when one sensor (angular position) and two sensors (angular position and angular velocity of the rocker) are used. To formulate the conditions for using mathematical descriptions as mathematical models of the automatic control object. The methods used are the Lagrange method, analytical linearization, state space, Laplace transform, Lypunov, Kalman criteria, diagnosability. The following results were obtained: the approach to the formation of the simplest models for the angular motion of a rocker with screw electric actuators as an object of automatic control for solving specific problems of analysis and synthesis was formed. Conclusions. The scientific novelty lies in the formation of the approach to the formation of the simplest control models for the angular motion of the rocker with screw electric actuators which differs from the known completeness of accounting for the acting forces and moments.

Keywords

• коромысло
• винтовой электропривод
• объект автоматического управления
• управляемость
• наблюдаемость
• диагностируемость
• математические модели
• пространство состояний