三级倒立摆系统全程滑模变结构控制

The full process variable structure control of 3-stage System

提出了一种基于全程滑模的变结构控制方法对具有单控制输入的三级倒立摆系统进行平衡控制的综合设计和成功的实验研究。该方法使得倒立摆系统从初始时刻开始就运行在滑模面上,从而使系统具有较强的鲁棒性。实验结果证明了该控制方法的有效性和可行性。

It gived a robust control algorithm based on sliding mode is employed to control a 3-stage inverted pendulum system with single input.The employment of such a technique appears neeessary beeause the traditional linear design process cannot incorporate the nonlinear dynamics of such system and its physical limitations.The new controller satisfies the required dynamic charaeteristic of the 3-stage inverted pendulum system and keep the system maintaining in the slidingmode surface from initial time. Experiment results illustrate the validity andfeasibility of the control method.