摘要
关于二级倒立摆稳定性优化控制问题,二级倒立摆是一个高度非线性系统,具有强耦合和快速运动的特点。但目前采用常规滑动模态变结构控制方法使系统出现高频抖动,导致系统存在稳定性差的问题。采用直线二级倒立摆为被控对象,通过用指数趋近律、边界层法和连续函数的趋近律三种改进方案对二级倒立摆系统进行了仿真,实验效果的对比结果表明,三种方案均能实现对二级倒立摆的稳定性有效控制,并可以使系统抖振得到抑制,为二级倒立摆稳定性设计提供了依据。
Double inverted pendulum is a high nonlinear system,with strong coupling and rapid movement characteristics.Currently,using ideal sliding mode variable structure control method can achieve the stability control of inverted pendulum,but due to a variety of causes,chattering exists.This paper took the traight line double inverted pendulum as the control object,and used three improveed plans respectively based on the exponential reaching law,boundary layer method and continuous function reaching law to simulate the double inverted pendulum.Research results shows that three plans can all achieve effective control effect and suppress the chattering of the inverted pendulum.
出处
《计算机仿真》
CSCD
北大核心
2012年第4期397-400,共4页
Computer Simulation
基金
山西省高校重点学科建设重点资助项目资助(20091029)
关键词
变结构控制
二级倒立摆
抖振
Variable structure control
Double inverted pendulum
Chattering
