Technical University of Sofia
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List of articles written by the authors of the organization
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CLARIFICATION OF A MODEL OF A BALANCING ROBOT BY LOGICAL AND EMPIRICAL METHODS
01.00.00 Physical-mathematical sciences
Description
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
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