基于HCMAC与PID复合控制的倒立摆控制系统

HCMAC and PID combined control of the inverted pendulum system

倒立摆控制系统是一个复杂的、不稳定、非线性系统,是进行控制理论研究的理想实验平台。针对单级倒立摆的平衡控制问题,提出了基于HCMAC(超闭球小脑模型关节控制器)与PID的复合控制方案,给出了倒立摆控制系统的数学模型和控制算法。通过仿真实验研究,证明了HCMAC与PID的复合控制比传统PID控制有更好的控制效果,适用于非线性实时控制。

The inverted pendulum system is characterized as a complex,unstable and nonlinear system. It is also an ideal experimental platform for control theory. In view of single equilibrium control problem of the inverted pendulum,a combined HCMAC（ Hyperball Cerebellar Model Articulation Controller） and PID system is proposed. It also introduces the inverted pendulum model and control algorithm. The simulation result is given out. HCMAC and PID combined control has better control effect than the traditional PID control,and it is suitable for nonlinear real-time control.