The energy regulation of a torque–driven vertical inertia wheel pendulum is addressed in this paper, which allows to achieve an oscillatory motion of the non actuated pendulum around its upright position through the proper motion of the actuated inertia wheel. The contribution of the present paper is an energy regulator capable of inducing oscillations of the pendulum with a user specified desired amplitude. More precisely, the proposed controller achieves locally asymptotically an oscillatory motion of pendulum around its upright position, in which its amplitude can be specified within an interval. Simulation and experimental results on a torque–driven inertia wheel pendulum illustrate the performance of the proposed controller.

本文讨论了扭矩驱动的垂直惯性轮摆的能量调节，它允许通过驱动惯性轮的适当运动来实现非驱动摆围绕其直立位置的摆动运动。本论文的贡献是一种能量调节器，能够以用户指定的所需幅度诱导摆的振荡。更准确地说，所提出的控制器局部渐近地实现钟摆围绕其直立位置的振荡运动，其中可以在一个区间内指定其幅度。扭矩驱动惯性轮摆的仿真和实验结果说明了所提出的控制器的性能。