摘要
结合控制目标对两摆间无弹簧连接的平行双倒立摆系统进行合理建模,验证所建模型可行性,讨论系统能控性和参数间的关系,设计了滑模变结构控制律,仿真结果表明滑模变结构控制能实现平行双倒立摆系统的稳定控制.
With regard to the control objective, this paper validates the feasibility and discusses the relations between the controllability and the parameters through the rationality model for the parallel - type inverted pendu-lum without springs. The law of sliding mode control is also designed. It is proved through the simulation result that the sliding mode control can realize the stabilization control of parallel - type inverted pendulum.
出处
《昆明理工大学学报（理工版）》
2008年第3期78-81,共4页
Journal of Kunming University of Science and Technology(Natural Science Edition)
基金
安徽省教育厅自然科学基金资助项目(项目编号:KJ2007B045)
关键词
倒立摆
滑模
变结构控制
电机控制
inverted pendulum
sliding mode
variable structure control
motor control
