基于二阶滑模的倒立摆控制研究

Research of Inverted Pendulum Control Based on Second-order Sliding Mode

滑模控制作为最常用的变结构控制方法,在鲁棒性、抗干扰能力、实现难易程度以及自适应方面具有很大的优势。传统的滑模控制是一阶滑模,虽也具有以上优点,但存在严重缺陷,即容易发生抖振。而高阶滑模控制不仅能继承传统一阶滑模的优点,还能消除一阶滑模抖振的缺陷。二阶滑模就是最简单、最易实现的高阶滑模。以一阶直线倒立摆为模型,对二阶滑模的超螺旋算法进行仿真,仿真结果表明二阶滑模的超螺旋算法具有可行性和优越性。

As the most common method of variable structure control, sliding mode control has great advantages in robustness, anti - interference ability, implementation difficulty and adaptation. While, the traditional first - order sliding mode control has above advantages, it has such defect as frequent chattering. Luckily, high - order sliding mode control not only can inherit the advantages of the traditional first - order sliding mode, but also can eliminate the chattering. And the second -order sliding mode is the simplest and easiest high -or- der sliding mode. Taking first - order linear inverted pendulum as a model, the super twisting algorithm of second - order sliding mode was simulated and the simulation results showed the feasibility and superiority of super twisting algorithm of second - order sliding mode.