Hệ xe và con lắc ngược kép

(DOUBLE INVERTED PENDULUM ON A CART)
MÔ HÌNH HÓA HỆ THỐNG

Hệ thống được mô hình hóa bằng các phương trình động học và động lực học. Mô phỏng hệ thống bằng Simulink/Matlab để đảm bảo hệ xe và con lắc ngược kép hoạt động như hệ thực tế.
BỘ ĐIỀU KHIỂN

2 bộ điều khiển được sử dụng để điều khiển hệ thống:
Bộ điều khiển LQR
Bộ điều khiển Fuzzy-Noron
SƠ ĐỒ KẾT NỐI

Sơ đồ kết nối phần cứng của hệ xe và con lắc ngược kép.
Post a Comment

<script type="text/javascript" src="https://www.blogger.com/static/v1/widgets/387437488-widgets.js"></script>
<script type='text/javascript'>
window['__wavt'] = 'AEUoTZpUeQZfkHumhd6pqo4ZPDaW:1782041969292';_WidgetManager._Init('//www.blogger.com/rearrange?blogID\x3d1716191351888373276','//www.metals.io.vn/2026/06/he-xe-va-con-lac-nguoc-kep.html','1716191351888373276');
_WidgetManager._SetDataContext([{'name': 'blog', 'data': {'blogId': '1716191351888373276', 'title': 'Metals Blog', 'url': 'https://www.metals.io.vn/2026/06/he-xe-va-con-lac-nguoc-kep.html', 'canonicalUrl': 'https://www.metals.io.vn/2026/06/he-xe-va-con-lac-nguoc-kep.html', 'homepageUrl': 'https://www.metals.io.vn/', 'searchUrl': 'https://www.metals.io.vn/search', 'canonicalHomepageUrl': 'https://www.metals.io.vn/', 'blogspotFaviconUrl': 'https://www.metals.io.vn/favicon.ico', 'bloggerUrl': 'https://www.blogger.com', 'hasCustomDomain': true, 'httpsEnabled': true, 'enabledCommentProfileImages': true, 'gPlusViewType': 'FILTERED_POSTMOD', 'adultContent': false, 'analyticsAccountNumber': '', 'encoding': 'UTF-8', 'locale': 'en', 'localeUnderscoreDelimited': 'en', 'languageDirection': 'ltr', 'isPrivate': false, 'isMobile': false, 'isMobileRequest': false, 'mobileClass': '', 'isPrivateBlog': false, 'isDynamicViewsAvailable': true, 'feedLinks': '\x3clink rel\x3d\x22alternate\x22 type\x3d\x22application/atom+xml\x22 title\x3d\x22Metals Blog - Atom\x22 href\x3d\x22https://www.metals.io.vn/feeds/posts/default\x22 /\x3e\n\x3clink rel\x3d\x22alternate\x22 type\x3d\x22application/rss+xml\x22 title\x3d\x22Metals Blog - RSS\x22 href\x3d\x22https://www.metals.io.vn/feeds/posts/default?alt\x3drss\x22 /\x3e\n\x3clink rel\x3d\x22service.post\x22 type\x3d\x22application/atom+xml\x22 title\x3d\x22Metals Blog - Atom\x22 href\x3d\x22https://www.blogger.com/feeds/1716191351888373276/posts/default\x22 /\x3e\n\n\x3clink rel\x3d\x22alternate\x22 type\x3d\x22application/atom+xml\x22 title\x3d\x22Metals Blog - Atom\x22 href\x3d\x22https://www.metals.io.vn/feeds/8865331350512992346/comments/default\x22 /\x3e\n', 'meTag': '', 'adsenseHostId': 'ca-host-pub-1556223355139109', 'adsenseHasAds': false, 'adsenseAutoAds': false, 'boqCommentIframeForm': true, 'loginRedirectParam': '', 'view': '', 'dynamicViewsCommentsSrc': '//www.blogblog.com/dynamicviews/4224c15c4e7c9321/js/comments.js', 'dynamicViewsScriptSrc': '//www.blogblog.com/dynamicviews/cd96ebb13b57568d', 'plusOneApiSrc': 'https://apis.google.com/js/platform.js', 'disableGComments': true, 'interstitialAccepted': false, 'sharing': {'platforms': [{'name': 'Get link', 'key': 'link', 'shareMessage': 'Get link', 'target': ''}, {'name': 'Facebook', 'key': 'facebook', 'shareMessage': 'Share to Facebook', 'target': 'facebook'}, {'name': 'BlogThis!', 'key': 'blogThis', 'shareMessage': 'BlogThis!', 'target': 'blog'}, {'name': 'X', 'key': 'twitter', 'shareMessage': 'Share to X', 'target': 'twitter'}, {'name': 'Pinterest', 'key': 'pinterest', 'shareMessage': 'Share to Pinterest', 'target': 'pinterest'}, {'name': 'Email', 'key': 'email', 'shareMessage': 'Email', 'target': 'email'}], 'disableGooglePlus': true, 'googlePlusShareButtonWidth': 0, 'googlePlusBootstrap': '\x3cscript type\x3d\x22text/javascript\x22\x3ewindow.___gcfg \x3d {\x27lang\x27: \x27en\x27};\x3c/script\x3e'}, 'hasCustomJumpLinkMessage': false, 'jumpLinkMessage': 'Read more', 'pageType': 'item', 'postId': '8865331350512992346', 'postImageThumbnailUrl': 'https://lh3.google.com/u/0/d/16E25N-ailuoFKY_DefuzTc8mHOgnJNfb\x3ds72-w647-c-h261?auditContext\x3dthumbnail', 'postImageUrl': 'https://lh3.google.com/u/0/d/16E25N-ailuoFKY_DefuzTc8mHOgnJNfb\x3dw647-h261?auditContext\x3dthumbnail', 'pageName': 'H\u1ec7 xe v\xe0 con l\u1eafc ng\u01b0\u1ee3c k\xe9p', 'pageTitle': 'Metals Blog: H\u1ec7 xe v\xe0 con l\u1eafc ng\u01b0\u1ee3c k\xe9p'}}, {'name': 'features', 'data': {}}, {'name': 'messages', 'data': {'edit': 'Edit', 'linkCopiedToClipboard': 'Link copied to clipboard!', 'ok': 'Ok', 'postLink': 'Post Link'}}, {'name': 'template', 'data': {'name': 'custom', 'localizedName': 'Custom', 'isResponsive': true, 'isAlternateRendering': false, 'isCustom': true}}, {'name': 'view', 'data': {'classic': {'name': 'classic', 'url': '?view\x3dclassic'}, 'flipcard': {'name': 'flipcard', 'url': '?view\x3dflipcard'}, 'magazine': {'name': 'magazine', 'url': '?view\x3dmagazine'}, 'mosaic': {'name': 'mosaic', 'url': '?view\x3dmosaic'}, 'sidebar': {'name': 'sidebar', 'url': '?view\x3dsidebar'}, 'snapshot': {'name': 'snapshot', 'url': '?view\x3dsnapshot'}, 'timeslide': {'name': 'timeslide', 'url': '?view\x3dtimeslide'}, 'isMobile': false, 'title': 'H\u1ec7 xe v\xe0 con l\u1eafc ng\u01b0\u1ee3c k\xe9p', 'description': '\xa0 (DOUBLE INVERTED PENDULUM ON A CART)', 'featuredImage': 'https://lh3.google.com/u/0/d/16E25N-ailuoFKY_DefuzTc8mHOgnJNfb\x3dw647-h261?auditContext\x3dthumbnail', 'url': 'https://www.metals.io.vn/2026/06/he-xe-va-con-lac-nguoc-kep.html', 'type': 'item', 'isSingleItem': true, 'isMultipleItems': false, 'isError': false, 'isPage': false, 'isPost': true, 'isHomepage': false, 'isArchive': false, 'isLabelSearch': false, 'postId': 8865331350512992346}}, {'name': 'widgets', 'data': [{'title': 'Metals Blog (Header)', 'type': 'Header', 'sectionId': 'sec_Header_Title', 'id': 'Header01'}, {'title': 'Looking for something?', 'type': 'BlogSearch', 'sectionId': 'sec_Header_Search', 'id': 'BlogSearch01'}, {'title': 'Header Icon', 'type': 'TextList', 'sectionId': 'sec_Header_Icon', 'id': 'TextList01'}, {'title': 'Contributors', 'type': 'Profile', 'sectionId': 'sec_Header_Icon', 'id': 'Profile01'}, {'title': 'Bookmark Posts', 'type': 'LinkList', 'sectionId': 'sec_Header_Icon', 'id': 'LinkList02'}, {'title': 'Translate', 'type': 'LinkList', 'sectionId': 'sec_Header_Icon', 'id': 'LinkList03'}, {'title': 'Navigation Menu', 'type': 'HTML', 'sectionId': 'sec_Nav_Widgets_1', 'id': 'HTML01'}, {'title': 'Additional Links', 'type': 'PageList', 'sectionId': 'sec_Nav_Widgets_2', 'id': 'PageList02'}, {'title': 'Social Links', 'type': 'LinkList', 'sectionId': 'sec_Nav_Widgets_2', 'id': 'LinkList04'}, {'title': 'Labels Description', 'type': 'LinkList', 'sectionId': 'sec_Under_Header', 'id': 'LinkList07'}, {'title': 'Carousel Image 01', 'type': 'Image', 'sectionId': 'sec_Carousel', 'id': 'Image01'}, {'title': 'Carousel Image 02 [NoTitle]', 'type': 'Image', 'sectionId': 'sec_Carousel', 'id': 'Image02'}, {'title': 'Carousel Image 03', 'type': 'Image', 'sectionId': 'sec_Carousel', 'id': 'Image03'}, {'title': 'Carousel Image 04', 'type': 'Image', 'sectionId': 'sec_Carousel', 'id': 'Image04'}, {'title': 'Carousel Image 05', 'type': 'Image', 'sectionId': 'sec_Carousel', 'id': 'Image05'}, {'title': 'Pinned Post', 'type': 'FeaturedPost', 'sectionId': 'sec_Top_Widgets', 'id': 'FeaturedPost01', 'postId': '2049669457777823987'}, {'title': 'Blog Posts', 'type': 'Blog', 'sectionId': 'sec_Main_Widgets', 'id': 'Blog01', 'posts': [{'id': '8865331350512992346', 'title': 'H\u1ec7 xe v\xe0 con l\u1eafc ng\u01b0\u1ee3c k\xe9p', 'featuredImage': 'https://lh3.google.com/u/0/d/16E25N-ailuoFKY_DefuzTc8mHOgnJNfb\x3dw647-h261?auditContext\x3dthumbnail', 'showInlineAds': false}], 'footerBylines': [{'regionName': 'footer1', 'items': [{'name': 'author', 'label': 'Published by'}, {'name': 'timestamp', 'label': 'On'}, {'name': 'comments', 'label': 'Comment'}, {'name': 'icons', 'label': ''}, {'name': 'share', 'label': ''}]}, {'regionName': 'footer2', 'items': [{'name': 'labels', 'label': 'in'}]}, {'regionName': 'footer3', 'items': [{'name': 'location', 'label': 'Location:'}]}], 'allBylineItems': [{'name': 'author', 'label': 'Published by'}, {'name': 'timestamp', 'label': 'On'}, {'name': 'comments', 'label': 'Comment'}, {'name': 'icons', 'label': ''}, {'name': 'share', 'label': ''}, {'name': 'labels', 'label': 'in'}, {'name': 'location', 'label': 'Location:'}]}, {'title': 'Categorized Posts', 'type': 'LinkList', 'sectionId': 'sec_Main_Widgets', 'id': 'LinkList08'}, {'title': 'Table of contents', 'type': 'HTML', 'sectionId': 'sec_Main_Widgets', 'id': 'HTML11'}, {'title': 'Popular Posts', 'type': 'PopularPosts', 'sectionId': 'sec_Side_Widgets', 'id': 'PopularPosts01', 'posts': [{'title': 'C\xc1CH VI\u1ebeT MARKDOWN', 'id': 1820300723060465286}, {'title': 'H\u1ec7 xe v\xe0 con l\u1eafc ng\u01b0\u1ee3c k\xe9p', 'id': 8865331350512992346}, {'title': 'Hackintosh_GuideLine', 'id': 1220920634445229002}, {'title': 'Control of CDPR', 'id': 3694189547279589811}, {'title': 'H\u1ec7 b\u1ed3n li t\xe2m d\xf9ng PIC16F887', 'id': 379312321389091843}]}, {'title': 'Labels', 'type': 'Label', 'sectionId': 'sec_Side_Widgets', 'id': 'Label01'}, {'title': 'Take me back', 'type': 'HTML', 'sectionId': 'sec_Error_404', 'id': 'HTML404'}, {'title': 'Organization [BlogTitle]', 'type': 'Image', 'sectionId': 'sec_Footer_Organization', 'id': 'Image21'}, {'title': 'Social Media Links', 'type': 'LinkList', 'sectionId': 'sec_Footer_Organization', 'id': 'LinkList21'}, {'title': 'Product', 'type': 'LinkList', 'sectionId': 'sec_Footer_Widgets', 'id': 'LinkList22'}, {'title': 'Resources', 'type': 'LinkList', 'sectionId': 'sec_Footer_Widgets', 'id': 'LinkList23'}, {'title': 'Support', 'type': 'LinkList', 'sectionId': 'sec_Footer_Widgets', 'id': 'LinkList24'}, {'title': 'Company', 'type': 'LinkList', 'sectionId': 'sec_Footer_Widgets', 'id': 'LinkList25'}, {'title': 'Credit', 'type': 'HTML', 'sectionId': 'sec_Footer_Bottom', 'id': 'HTML21'}, {'title': 'Mobile Menu', 'type': 'TextList', 'sectionId': 'sec_Mobile_Menu', 'id': 'TextList99'}, {'title': 'Labels', 'type': 'Label', 'sectionId': 'sec_Theme_Hidden', 'id': 'Label41'}, {'title': 'Contact Form', 'type': 'ContactForm', 'sectionId': 'sec_Theme_Hidden', 'id': 'ContactForm41'}, {'title': 'Pageviews last month', 'type': 'Stats', 'sectionId': 'sec_Theme_Hidden', 'id': 'Stats41'}, {'title': 'Firebase Configurations', 'type': 'LinkList', 'sectionId': 'sec_Addon_Widgets', 'id': 'LinkList61'}, {'title': 'Progressive Web App', 'type': 'LinkList', 'sectionId': 'sec_Addon_Widgets', 'id': 'LinkList62'}, {'title': 'Image Uploader', 'type': 'Image', 'sectionId': 'sec_Addon_Widgets', 'id': 'Image61'}]}]);
_WidgetManager._RegisterWidget('_HeaderView', new _WidgetInfo('Header01', 'sec_Header_Title', document.getElementById('Header01'), {}, 'displayModeFull'));
_WidgetManager._RegisterWidget('_BlogSearchView', new _WidgetInfo('BlogSearch01', 'sec_Header_Search', document.getElementById('BlogSearch01'), {}, 'displayModeFull'));
_WidgetManager._RegisterWidget('_TextListView', new _WidgetInfo('TextList01', 'sec_Header_Icon', document.getElementById('TextList01'), {}, 'displayModeFull'));
_WidgetManager._RegisterWidget('_ProfileView', new _WidgetInfo('Profile01', 'sec_Header_Icon', document.getElementById('Profile01'), {}, 'displayModeFull'));
_WidgetManager._RegisterWidget('_LinkListView', new _WidgetInfo('LinkList02', 'sec_Header_Icon', document.getElementById('LinkList02'), {}, 'displayModeFull'));
_WidgetManager._RegisterWidget('_LinkListView', new _WidgetInfo('LinkList03', 'sec_Header_Icon', document.getElementById('LinkList03'), {}, 'displayModeFull'));
_WidgetManager._RegisterWidget('_HTMLView', new _WidgetInfo('HTML01', 'sec_Nav_Widgets_1', document.getElementById('HTML01'), {}, 'displayModeFull'));
_WidgetManager._RegisterWidget('_PageListView', new _WidgetInfo('PageList02', 'sec_Nav_Widgets_2', document.getElementById('PageList02'), {'title': 'Additional Links', 'links': [{'isCurrentPage': false, 'href': '/p/sitemap.html', 'title': 'Sitemap'}, {'isCurrentPage': false, 'href': '/p/disclaimer.html', 'title': 'Disclaimer'}, {'isCurrentPage': false, 'href': '/p/privacy.html', 'title': 'Privacy'}], 'mobile': false, 'showPlaceholder': true, 'hasCurrentPage': false}, 'displayModeFull'));
_WidgetManager._RegisterWidget('_LinkListView', new _WidgetInfo('LinkList04', 'sec_Nav_Widgets_2', document.getElementById('LinkList04'), {}, 'displayModeFull'));
_WidgetManager._RegisterWidget('_LinkListView', new _WidgetInfo('LinkList07', 'sec_Under_Header', document.getElementById('LinkList07'), {}, 'displayModeFull'));
_WidgetManager._RegisterWidget('_ImageView', new _WidgetInfo('Image01', 'sec_Carousel', document.getElementById('Image01'), {'resize': false}, 'displayModeFull'));
_WidgetManager._RegisterWidget('_ImageView', new _WidgetInfo('Image02', 'sec_Carousel', document.getElementById('Image02'), {'resize': false}, 'displayModeFull'));
_WidgetManager._RegisterWidget('_ImageView', new _WidgetInfo('Image03', 'sec_Carousel', document.getElementById('Image03'), {'resize': false}, 'displayModeFull'));
_WidgetManager._RegisterWidget('_ImageView', new _WidgetInfo('Image04', 'sec_Carousel', document.getElementById('Image04'), {'resize': false}, 'displayModeFull'));
_WidgetManager._RegisterWidget('_ImageView', new _WidgetInfo('Image05', 'sec_Carousel', document.getElementById('Image05'), {'resize': false}, 'displayModeFull'));
_WidgetManager._RegisterWidget('_FeaturedPostView', new _WidgetInfo('FeaturedPost01', 'sec_Top_Widgets', document.getElementById('FeaturedPost01'), {}, 'displayModeFull'));
_WidgetManager._RegisterWidget('_BlogView', new _WidgetInfo('Blog01', 'sec_Main_Widgets', document.getElementById('Blog01'), {'cmtInteractionsEnabled': false, 'lightboxEnabled': true, 'lightboxModuleUrl': 'https://www.blogger.com/static/v1/jsbin/1053750561-lbx.js', 'lightboxCssUrl': 'https://www.blogger.com/static/v1/v-css/828616780-lightbox_bundle.css'}, 'displayModeFull'));
_WidgetManager._RegisterWidget('_LinkListView', new _WidgetInfo('LinkList08', 'sec_Main_Widgets', document.getElementById('LinkList08'), {}, 'displayModeFull'));
_WidgetManager._RegisterWidget('_HTMLView', new _WidgetInfo('HTML11', 'sec_Main_Widgets', document.getElementById('HTML11'), {}, 'displayModeFull'));
_WidgetManager._RegisterWidget('_PopularPostsView', new _WidgetInfo('PopularPosts01', 'sec_Side_Widgets', document.getElementById('PopularPosts01'), {}, 'displayModeFull'));
_WidgetManager._RegisterWidget('_LabelView', new _WidgetInfo('Label01', 'sec_Side_Widgets', document.getElementById('Label01'), {}, 'displayModeFull'));
_WidgetManager._RegisterWidget('_HTMLView', new _WidgetInfo('HTML404', 'sec_Error_404', document.getElementById('HTML404'), {}, 'displayModeFull'));
_WidgetManager._RegisterWidget('_ImageView', new _WidgetInfo('Image21', 'sec_Footer_Organization', document.getElementById('Image21'), {'resize': true}, 'displayModeFull'));
_WidgetManager._RegisterWidget('_LinkListView', new _WidgetInfo('LinkList21', 'sec_Footer_Organization', document.getElementById('LinkList21'), {}, 'displayModeFull'));
_WidgetManager._RegisterWidget('_LinkListView', new _WidgetInfo('LinkList22', 'sec_Footer_Widgets', document.getElementById('LinkList22'), {}, 'displayModeFull'));
_WidgetManager._RegisterWidget('_LinkListView', new _WidgetInfo('LinkList23', 'sec_Footer_Widgets', document.getElementById('LinkList23'), {}, 'displayModeFull'));
_WidgetManager._RegisterWidget('_LinkListView', new _WidgetInfo('LinkList24', 'sec_Footer_Widgets', document.getElementById('LinkList24'), {}, 'displayModeFull'));
_WidgetManager._RegisterWidget('_LinkListView', new _WidgetInfo('LinkList25', 'sec_Footer_Widgets', document.getElementById('LinkList25'), {}, 'displayModeFull'));
_WidgetManager._RegisterWidget('_HTMLView', new _WidgetInfo('HTML21', 'sec_Footer_Bottom', document.getElementById('HTML21'), {}, 'displayModeFull'));
_WidgetManager._RegisterWidget('_TextListView', new _WidgetInfo('TextList99', 'sec_Mobile_Menu', document.getElementById('TextList99'), {}, 'displayModeFull'));
_WidgetManager._RegisterWidget('_LabelView', new _WidgetInfo('Label41', 'sec_Theme_Hidden', document.getElementById('Label41'), {}, 'displayModeFull'));
_WidgetManager._RegisterWidget('_ContactFormView', new _WidgetInfo('ContactForm41', 'sec_Theme_Hidden', document.getElementById('ContactForm41'), {'contactFormMessageSendingMsg': 'Sending...', 'contactFormMessageSentMsg': 'Your message has been sent.', 'contactFormMessageNotSentMsg': 'Message could not be sent. Please try again later.', 'contactFormInvalidEmailMsg': 'A valid email address is required.', 'contactFormEmptyMessageMsg': 'Message field cannot be empty.', 'title': 'Contact Form', 'blogId': '1716191351888373276', 'contactFormNameMsg': 'Name', 'contactFormEmailMsg': 'Email', 'contactFormMessageMsg': 'Message', 'contactFormSendMsg': 'Send', 'contactFormToken': 'AEUoTZq7MRS0fPdC8Kt0LbTj4N2o:1782041969293', 'submitUrl': 'https://www.blogger.com/contact-form.do'}, 'displayModeFull'));
_WidgetManager._RegisterWidget('_StatsView', new _WidgetInfo('Stats41', 'sec_Theme_Hidden', document.getElementById('Stats41'), {'title': 'Pageviews last month', 'showGraphicalCounter': false, 'showAnimatedCounter': false, 'showSparkline': true, 'statsUrl': '//www.metals.io.vn/b/stats?style\x3dBLACK_TRANSPARENT\x26timeRange\x3dLAST_WEEK\x26token\x3dAFVZEFxub3F8c06ar-30p0URU716a63f_uduQ2nMJtNGriWqc4pee4cs_So-Zbgszqq64Bh9QB1RnaBZcs0qdug'}, 'displayModeFull'));
_WidgetManager._RegisterWidget('_LinkListView', new _WidgetInfo('LinkList61', 'sec_Addon_Widgets', document.getElementById('LinkList61'), {}, 'displayModeFull'));
_WidgetManager._RegisterWidget('_LinkListView', new _WidgetInfo('LinkList62', 'sec_Addon_Widgets', document.getElementById('LinkList62'), {}, 'displayModeFull'));
_WidgetManager._RegisterWidget('_ImageView', new _WidgetInfo('Image61', 'sec_Addon_Widgets', document.getElementById('Image61'), {'resize': false}, 'displayModeFull'));
</script>
</body>
Metals Blog

Hệ xe và con lắc ngược kép

MÔ HÌNH HÓA HỆ THỐNG

BỘ ĐIỀU KHIỂN

SƠ ĐỒ KẾT NỐI

Post a Comment

CÁCH VIẾT MARKDOWN

Hackintosh_GuideLine

Control of CDPR

Hệ bồn li tâm dùng PIC16F887
