基于扰动观测器的旋转倒立摆滑模控制

Sliding-mode control of rotating inverted pendulum based on disturbance observer

该文针对旋转倒立摆中存在的匹配和不匹配不确定性扰动对系统的影响,提出了一种基于扰动观测器(DOB)的滑模控制(SMC)方法。通过设计一种基于扰动估计的滑模面,提出利用DOB的方法来抵消系统中的匹配与不匹配扰动,并利用李亚普诺夫稳定性定理证明所设计的控制器可以保证闭环系统的稳定性。借助MATLAB仿真软件和实验平台对系统进行仿真控制实验,与传统的比例-积分-微分(PID)控制方法进行比较。结果显示:当旋转倒立摆系统受到外加扰动时,基于DOB的SMC方法和PID控制方法都能使系统恢复平衡。在同等条件下,PID控制方法虽然让旋转倒立摆的摇杆在1.5 s左右恢复稳定,但摇杆已经偏离了原来的平衡位置,摆杆也出现了大幅度的晃动。在基于DOB的SMC方法作用下,旋转倒立摆的摇杆在经过1 s的小幅度转动后又稳定在了平衡位置,摆杆也在小幅度振荡后保持平衡。

Aiming at the influence of the system factors such as matching and mismatching uncertainties in a rotating inverted pendulum,a sliding mode control(SMC)method based on disturbance observer(DOB)is proposed.By designing a sliding-mode surface based on disturbance estimation,the method of DOB is proposed to counteract the matching and mismatching disturbances in the system,and the stability of the closed-loop system is guaranteed by using Lyapunov stability theorem.With the help of MATLAB simulation software and experimental platform,the simulation control experiment of the system is carried out and compared with the traditional proportional integral differential(PID)control method.The results show that the SMC method based on DOB and PID control method can restore the system balance when the rotating inverted pendulum system is disturbed.Under the same conditions,although the PID control method makes the rotating inverted pendulum’s rocker return to stability in about 1.5 seconds,the rocker deviates from the original balance position,and the pendulum also has a large swing.Under the effect of SMC method based on DOB,the rocker of the rotating inverted pendulum is stable in the balance position after a small rotation of 1 s,and the pendulum also keeps balance after a small oscillation.