倒立摆系统的分段变结构自举控制

Swing up Control of Inverted Pendulum System Based on Segment Variable Structure Control

首先给出了倒立摆系统的精确数学模型,然后通过分段变结构控制使摆杆摆起并达到最终平衡状态。在第1阶段,采用继电控制使摆杆平稳快速摆起;当摆杆摆动到平衡位置附近时切换到第2阶段,即采用李雅普诺夫直接法设计的变结构控制器,并通过饱和函数削弱变结构控制系统的抖振,实现对倒立摆的稳定控制。最后通过计算机仿真表明,变结构控制策略和控制算法良好地实现了一级倒立摆系统的自举控制,同时也证明了变结构控制方法在非线性系统控制方面的应用价值。

First, a pendulum system is precise model of inverted given. And then, variable structure control method is used to swing up the pendulum stably and quickly. When the pendulum is about to the inverted balance position, swith to the variable structure controller which designed by Lyapunov direct method. At the same time, saturation function is adopted to reduce the system chatter. Finally, the effectiveness of the proposed controller is demonstrated by simulation and comparison studies.