摘要
针对于倒立摆系统不稳定、建模存在误差且有干扰的非线性控制问题,研究了基于比例切换的变结构控制方法,建立了系统的数学模型,设计了控制系统的切换面和基于比例切换函数的滑模变结构控制器,经仿真后在实验系统上进行了物理实现。结果表明,该控制方法能有效抑制倒立摆系统参数摄动引起的扰动和外加干扰,能有效提高倒立摆控制系统的稳定性、控制精度和响应速度,系统鲁棒性强。
The method of variable structure control based on proportion switching is researched to solve the nonlinear control problem that the instability and mode error and interfere is strong in the inverse pendulum system. The mathematics model of system is built, then, a switching surface and a sliding mode variable structure controller based on proportion switching function for the inverse pendulum system is de-signed. It is realized on an experiment system after the simulation has been finished. The re.suit shows that this control method can effectively restrain the disturbance derived from the parameter variety of system and external interfere, and improve the stability, control veracity and response speed of the control system, the control system is robust.
出处
《武汉理工大学学报》
EI
CAS
CSCD
北大核心
2007年第4期114-117,128,共5页
Journal of Wuhan University of Technology
基金
湖南省青年骨干教师培养基金(湘教通[2003]167)
关键词
变结构控制
滑模控制
比例切换
鲁棒性
倒立摆
variable structure control
sliding mode control
proportion switching
robustness
inverse pendulum
