基于MATLAB的单级旋转倒立摆建模与控制仿真.pdfVIP

基于MATLAB 的单级旋转倒立摆建模与控制仿真 一、分析课题，选择数据源 外文数据库多种多样，对于工程应用所研究的课题，通常选取比较常用的数 据库为：IEEE Xplore （/Xplore/home.jsp ）、Google 学术搜索 （/ ）以及SpringerLink （/）。 二、选取检索词 单级旋转倒立摆的英文名称为：single rotational inverted pendulum， 故以此为检索词进行检索。 三、构造检索式 Single （and）rotational inverted pendulum 四、实施检索，调整检索策略 由于搜索步骤较多，此处只详细给出使用IEEE Xplore 数据库的检索过程， 另外两个数据库提供大概检索过程及结果截图。 由于搜索结果只有9 条，数量较少，故调整检索词，过程如下： Google 学术搜索： SpringerLink 数据库： 五、检索结果 1、题目：Analysis of human gait using an Inverted Pendulum Model 基于倒立摆模型的人体步态分析 Zhe Tang ; Meng Joo Er ; Chien, C.-J. Fuzzy Systems, 2008. FUZZ-IEEE 2008. (IEEE World Congress on Computational Intelligence). IEEE International Conference on Abstract: IPM(Inverted Pendulum Model) has been widely used for modeling of human motion gaits. There is a common condition in most of these models, the reaction force between the floor and the humanoid must go through the CoG (Center of Gravity) of the a humanoid or human being. However, the recent bio-mechanical studies show that there are angular moments around the CoG of a human being during human motion. In other words, the reaction force does not necessarily pass through the CoG. In this paper, the motion of IPM is analyzed by taking into consideration two kinds of rotational moments, namely around the pivot and around the CoG. The human motion has been decomposed into the sagittal plane and front plane in the double support phase and single support phase. The motions of the IPM in these four different phases are derived by solving four differential equations with boundary conditions. Simulation results show that a stable human gait is synthesized by using our proposed IPM. 摘要：IPM （倒立摆模型）已被广泛用于人体运动步态建模。在大多数这些 模型中有一种恒定条件是，地板与人体之间的反作用力必须经过一个人的 COG （重心）。然而，最近的生物力学研究表明，人体运动过程中有围绕着人类的重 心的角动量产生。换句话说，反作用力不一定通过COG 。在本文中，IPM 的运 动是通过考虑