基于级联控制结构的X-Z倒立摆跟踪控制研究

Research on X-Z Inverted Pendulum Tracking Control Based on Cascade Control Structure

针对X-Z倒立摆的跟踪控制问题,提出了一种级联控制方法。首先,通过一定的状态变换对X-Z倒立摆复杂的数学模型进行简化;其次,将X-Z倒立摆控制系统分解为外部位置控制环和内部姿态控制环,根据级联控制结构设计了位置和姿态控制器;最后,通过仿真并与PID控制方法进行对比,验证了新方法的有效性和优越性。

A cascade control method is proposed for the tracking control of X-Z inverted pendulum.Firstly,the complex mathematical model of X-Z inverted pendulum is simplified by a certain state transformation.Secondly,the X-Z inverted pendulum control system is decomposed into external position control loop and internal attitude control loop,both position and attitude controllers are designed according to the cascade control structure.Finally,the effectiveness and superiority of the new method are verified by simulation and comparison with PID control method.