一种积分型切换函数的滑模控制算法在倒立摆系统中的仿真应用

The Simulation and Application of Sliding Mode Control Method Based on the Integral Switching Function in the Single Inverted Pendulum System

针对实际控制系统的非线性和某种程度上存在扰动的特点,采用基于积分切换函数的滑模变结构控制算法不仅能减小由于扰动带来的稳态误差,同时对抑制抖振现象有很好的效果。另一方面为了使系统能够快速到达切换面,在指数趋近律的基础上增加变速部分保证整个趋近过程用时很短。将此算法应用到一级倒立摆系统中进行仿真验证,仿真结果显示了此算法克服抖振的效果。

As the feature of nonlinear and disturbance to some extent in the actual control system,a new method of the sliding mode variable structure controller based on the integral switching function is applied.The method not only can reduce the steady-state error effectively which was caused by the disturbance but also have a good effect for controlling chattering phenomenon.Besides,in order to make the system reach the Sliding surface quickly,the method adds the change speed part to exponential reaching law to make sure that the time is very short in the process.Ultimately,simulating and testing the method in the single inverted pendulum system shows that the method can reduce chattering Phenomenon effectively.