Name
Zhmud Vadim Arkadievich
Scholastic degree
•
Academic rank
associated professor
Honorary rank
—
Organization, job position
Novosibirsk State Technical University
Web site url
—
oao_nips@bk.ru, zhmud@corp.nstu.ru, v.zhmud@nips.ru
Articles count: 1
This work studies the mathematical model of the
object “inverted pendulum” on the example of the
unstable electromechanical devices which is
balancing robot on wheel couple. Unfortunately,
many details of object model are unknown. Logical
and empirical method offers hypotheses about the
difference between the actual object model from its
mathematical approximation based on logical
analysis with subsequent refinement of this model
and testing of the hypothesis with modeling of the
systems with the updated model. As a result, the
amendments to the model have been found
containing nonlinear components. With the help of
these amendments, the dynamic characteristics of
the actuator, filters, friction and the tendency of the
object to fluctuations are better taken into account