CN201035818Y - Mass centre adjustable carriage type inverted pendulum - Google Patents
Mass centre adjustable carriage type inverted pendulum Download PDFInfo
- Publication number
- CN201035818Y CN201035818Y CNU2007201489449U CN200720148944U CN201035818Y CN 201035818 Y CN201035818 Y CN 201035818Y CN U2007201489449 U CNU2007201489449 U CN U2007201489449U CN 200720148944 U CN200720148944 U CN 200720148944U CN 201035818 Y CN201035818 Y CN 201035818Y
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- crossbeam
- gravity
- inverted pendulum
- racks
- steering wheel
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Abstract
The utility model relates to a teaching experimental device, in particular to a trolley type inverted pendulum with adjustable gravity. The trolley type inverted pendulum mainly comprises wheels (1), a bottom plate (2), a head (10), a supporting rod (9), and a gravity adjusting box. The gravity adjusting box comprises a box body (3), two rack carriages (4), two racks, two control actuators, and a crossbeam (6). The two rack carriages (4) are fixed on the bottom plate (2), the rack carriages (4) are casing bodies with hollow internals, the two racks are respectively arranged on the hollow parts of the two carriages (4) and the two racks are respectively articulated with gears on the control actuators. The crossbeam is arranged between the two racks, the two ends of the crossbeam are respectively and firmly connected with the two racks, and the middle of the crossbeam is firmly connected with the supporting rod. The utility model can complete the vertical movement of the gravity of the trolley body, change the parameter of an overall system through adjusting the gravity of the trolley, and provide the simple and convenient platform for researching and verifying the robustness of a control method and a robust control theory.
Description
Technical field
The utility model relates to scientific research or experiment device for teaching, relates in particular to the adjustable trolley type inverted pendulum of center of gravity.
Background technology
Inverted pendulum is a kind of typical, nonlinear, unsettled system, nearly all center of gravity that we saw last, fulcrum under the stable problem of device can both ascribe the control of inverted pendulum to, so inverted pendulum becomes the unfailing research topic in control field.Inverted pendulum becomes the typical scientific research or the instructional device of control theory in the automation field and application thereof.
Theory of Automatic Control is exactly a robust control theory in its most important achievement of development that recent two decades comes, and robust control theory comprises that for the object uncertain factor processing of external disturbance, the variation of object model parameter etc. has superiority.
Existing the most frequently used inverted pendulum have " Xinan Polytechnical College's journal " (2001, Vol.16, No.3, the inverted pendulum of P.12-16) being introduced (hereinafter to be referred as conventional inverted pendulum) of moving linearly on the track of finite length.Conventional inverted pendulum motor is fixed on an end of guide rail, and driven by motor belt pulley and belt drives dolly be moving linearly in orbit.The subject matter that this conventional inverted pendulum exists is that the range of movement of dolly is limited on the guide rail, can not exceed the length of track.The disclosed inverted pendulum of remote car with two wheels of Chinese University of Science and Technology has solved the problem of limitation of movement on the inverted pendulum horizontal direction effectively, but the center of gravity of its fork is unadjustable, has limited research and the checking of robust control theory on the inverted pendulum device.
The utility model content
The utility model provides center of gravity adjustable trolley type inverted pendulum, can change the parameter of total system by the center of gravity that changes car body, thereby verify and study robust control theory effectively.
To achieve these goals, the utility model has been taked following technical scheme., mainly including wheel 1, chassis 2, head 10, support bar 9, an end of support bar 9 is fixedlyed connected with head 10; It is characterized in that: also include the center of gravity regulating box, the center of gravity regulating box includes casing 3, two yoke assy rack supports 4, first tooth bar 5, second tooth bar 11, first steering wheel 7 of band gear, second steering wheel 8, the crossbeam 6 of band gear; Wherein, two yoke assy rack supports 4 are fixed on the chassis 2, bracing frame 4 is the inner hollow housing that is, first tooth bar 5 and second tooth bar 11 are separately positioned on the hollow space of two bracing frames 4, two tooth bars are respectively by being arranged on the gear interlock mutually on cross groove 13 and the steering wheel on bracing frame 4 sidewalls, under the drive of steering wheel, can move up and down along yoke assy rack support 4, between two tooth bars, be provided with crossbeam 6, fixedly connected with two tooth bars respectively in the two ends of crossbeam 6, fixedly connected with support bar 9 in the centre of crossbeam 6, the side that yoke assy rack support 4 is connected with crossbeam 6 at tooth bar is provided with crossbeam motion groove 12, and crossbeam 6 can move up and down along groove 12.
Described groove 13 is cross.
The utility model can be by the positive and negative device that moves up and down of finishing body gravity that transfers of control steering wheel, simple in structure, reliable and practical, for the performance that improves portable inverted pendulum device, the scientific research and the experiment content that enrich portable inverted pendulum device are very helpful.It not only can verify and debug various conventional control algolithms, can also change the parameter of total system by the center of gravity that changes car body, and robust control theory is effectively verified and studied.
Description of drawings
Fig. 1 is a structural representation of the present utility model
Fig. 2 is the utility model yoke assy rack support front-view schematic diagram
Fig. 3 looks synoptic diagram for the utility model yoke assy rack support left side
Fig. 4 is the utility model yoke assy rack support right view
Wherein: 1, wheel, 2, the chassis, 3, the regulating box casing, 4, yoke assy rack support, 5, first tooth bar, 6, crossbeam, 7 first steering wheels, 8, second steering wheel, 9, support bar, 10, head, 11, second tooth bar, 12, crossbeam motion groove, 13, place the cross groove of gear.
Embodiment
Describe present embodiment in detail below in conjunction with Fig. 1～Fig. 4.
As shown in Figure 1 and Figure 2, two direct current generator symmetries are fixed on the both sides on car body chassis 2, and the axle of each direct current generator is affixed mutually with the axle of a wheel respectively, and the axis of two wheels drops on the center line of chassis 2.The center of gravity regulating box partly comprises: casing 3, two yoke assy rack supports 4, first tooth bar 5, crossbeam 6, first steering wheel 7 of band gear and second steering wheels 8 of band gear.Wherein, two yoke assy rack supports 4 are fixed on the chassis 2, bracing frame 4 is the inner hollow housing that is, tooth bar is arranged on the hollow space of bracing frame 4, tooth bar can move up and down along yoke assy rack support 4 under the drive of steering wheel, being provided with crossbeam 6 between two tooth bars, fixedlys connected with two tooth bars respectively in the two ends of crossbeam 6, fixedlys connected with support bar 9 in the centre of crossbeam 6.The concrete structure of yoke assy rack support 4 is with reference to Fig. 2～Fig. 4, and bracing frame 4 is the rectangular parallelepiped housing, and tooth bar 5 is placed on wherein, has crossbeam 6 to pass with tooth bar 5 shiny surfaces next-door neighbours' one side, and the sidewall of support machine 4 is provided with and is used for the groove 12 that crossbeam 6 moves up and down.Bracing frame 4 has a cross groove 13 with the one side that first steering wheel 7, second steering wheel 8 match, and is used for finishing the cooperation of the wheel and rack on the steering wheel.
When the steering wheel 7,8 of band gear rotates, drive two tooth bars and move up and down, crossbeam 6 also moves upward together when tooth bar 5,12 moves upward, because crossbeam 6 is fixed together with support bar 9, move upward so can drive support bar 9, thereby the center of gravity of car body can be moved up and down.
Claims (2)
1. the adjustable trolley type inverted pendulum of center of gravity mainly includes wheel (1), chassis (2), head (10), support bar (9), and an end of support bar (9) is fixedlyed connected with head (10); It is characterized in that: also include the center of gravity regulating box, the center of gravity regulating box includes first steering wheel (7) of casing (3), two yoke assy rack supports (4), first tooth bar (5), second tooth bar (11), band gear, second steering wheel (8), the crossbeam (6) of band gear; Wherein, two yoke assy rack supports (4) are fixed on the chassis (2), bracing frame (4) is the inner hollow housing that is, first tooth bar (5) and second tooth bar (11) are separately positioned on the hollow space of two bracing frames (4), two tooth bars are respectively by being arranged on the gear interlock mutually on groove (13) and the steering wheel on bracing frame (4) sidewall, under the drive of steering wheel, can move up and down along yoke assy rack support (4), between two tooth bars, be provided with crossbeam (6), fixedly connected with two tooth bars respectively in the two ends of crossbeam (6), fixedly connected with support bar (9) in the centre of crossbeam (6), yoke assy rack support (4) is provided with crossbeam motion groove (12) in the side that tooth bar is connected with crossbeam (6), and crossbeam (6) can move up and down along groove (12).
2. the adjustable trolley type inverted pendulum of center of gravity according to claim 1 is characterized in that: described groove (13) is for cross.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007201489449U CN201035818Y (en) | 2007-04-27 | 2007-04-27 | Mass centre adjustable carriage type inverted pendulum |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007201489449U CN201035818Y (en) | 2007-04-27 | 2007-04-27 | Mass centre adjustable carriage type inverted pendulum |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201035818Y true CN201035818Y (en) | 2008-03-12 |
Family
ID=39196709
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2007201489449U Expired - Fee Related CN201035818Y (en) | 2007-04-27 | 2007-04-27 | Mass centre adjustable carriage type inverted pendulum |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201035818Y (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101850548A (en) * | 2010-04-16 | 2010-10-06 | 北京工业大学 | Inverted pendulum balancing control system based on flywheel |
| CN103192393A (en) * | 2013-03-24 | 2013-07-10 | 北京工业大学 | Flywheel inverted pendulum system based on magnetic eddy current effect |
| CN109160223A (en) * | 2018-08-30 | 2019-01-08 | 芜湖金光汽车配件有限责任公司 | A kind of automotive trim panel carrying platform |
| CN117213993A (en) * | 2023-11-09 | 2023-12-12 | 齐齐哈尔大学 | Parallel bars sports equipment intensity detection device |
-
2007
- 2007-04-27 CN CNU2007201489449U patent/CN201035818Y/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101850548A (en) * | 2010-04-16 | 2010-10-06 | 北京工业大学 | Inverted pendulum balancing control system based on flywheel |
| CN101850548B (en) * | 2010-04-16 | 2011-06-08 | 北京工业大学 | Inverted pendulum balancing control system based on flywheel |
| CN103192393A (en) * | 2013-03-24 | 2013-07-10 | 北京工业大学 | Flywheel inverted pendulum system based on magnetic eddy current effect |
| CN109160223A (en) * | 2018-08-30 | 2019-01-08 | 芜湖金光汽车配件有限责任公司 | A kind of automotive trim panel carrying platform |
| CN117213993A (en) * | 2023-11-09 | 2023-12-12 | 齐齐哈尔大学 | Parallel bars sports equipment intensity detection device |
| CN117213993B (en) * | 2023-11-09 | 2024-01-26 | 齐齐哈尔大学 | Parallel bars sports equipment intensity detection device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20080312 Termination date: 20110427 |