基于趋近律滑模的台车式倒立摆系统控制研究

Sliding Mode Control with Trending Law for a Trolley Inverted Pendulum System

本文设计了一种基于趋近律方法的滑模控制器。趋近律方法是滑模变结构控制的一种典型控制策略。这种控制方法不仅可以对系统在切换面附近或沿切换面的滑模运动段进行分析,而且可以有效地对系统趋近段的动态过程进行分析和设计,从而保证系统在整个状态空间内具有较好的运动品质。仿真结果表明,将两种典型的趋近律滑模控制方法应用到台车式倒立摆系统中,指数趋近律滑模变结构方法有更好的稳定性和抗干扰能力。

This paper proposes a new sliding mode control approach with trending law.Trending law is a typical control strategy of sliding mode control. This control method can not only switch on the system near the surface or along the switching surface to carry out the analysis, but also effective analysis and design of dynamic process in trending segments of the system. Thus it ensures good movement quality in the entire state space. Two typical approach of trending law sliding mode control is applied to trolley inverted pendulum system. Simulation results were given to prove the exponential velocity trending law of sliding mode control stategy has a better stability and noise reduction compared with equal velocity trending law.