带有低通滤波的板球系统反演控制器设计

Design of Inversion Controller for Ball-and-Plate System with Low-pass filter

针对板球系统存在的非线性、不确定性和外界干扰问题,为使小球的轨迹跟踪达到理想的动态品质,根据Lyapunov稳定性理论,首先将板球系统的状态空间模型与低通滤波器相结合,然后定义系统偏差,选取合适的Lyapunov函数后求出虚拟函数,最后逐步推导出一种带有低通滤波的反演控制器.仿真结果表明,改进的控制器能有效滤除系统自身和外界的干扰,提高了控制精度,满足系统的控制要求.

For the problem of the nonlinearity,uncertainty and external disturbance of the ball and plate system,in order to make the ball trajectory tracking of the desired dynamic quality,according to the Lyapunov stability theory,firstly combine the state space model of ball and plate system with the low-pass filter,then define the system deviation,select the appropriate Lyapunov function and obtain the virtual function,and finally gradually deduce an inversion controller with low-pass filter.The simulation results show that the improved controller can effectively filter the interference of the system itself and the outside,improve the control precision,and meet the control requirements of the system.