摘要
PID控制因其结构简单、易于实现等优点在倒立摆系统的控制研究中被广泛应用,然而以往的研究结果只是保证闭环系统有较好的超调量和调节时间等动态指标,对于由非线性未建模动态引起的高频抖动并未直接考虑。为此文中提出CMAC作为前馈控制器实现对车载倒立摆系统非线性未建模动态的补偿,补偿后的得到的线性系统通过设计PID反馈控制使闭环系统达到渐近稳定。仿真结果表明引入CMAC控制器后,系统不但响应速度明显加快,输出无超调,而且它对于较高频信号的跟踪效果非常好,大大减小了倒立摆在控制过程中的抖动,体现了此复合控制实时性好和鲁棒性强的特点,在机械臂的高精度跟踪控制中得到成功应用。
Due to simple structure and easy implementation,PID control has found a wide application in the research of inverted pendulum system.However,the existing results were just guaranteed the closed-loop system with good the overshoot and tuning time and other dynamic performances,high-frequency oscillation(scattering) caused by nonlinear unmodeled dynamics did not take into account directly.In this paper,a CMAC as feed-forward controller is utilized to realize the compensating for nonlinear unmodeled dynamics of vehicle-mounted inverted pendulum system.Then,a PID feedback controller is designed to guarantee the asymptotic stability of the closed-loop system The simulation results show that the composition of CMAC compensator and PID controller can improve the respond speed and the output overshoot,and reduce the high-frequency scattering.It is successfully applied to the high-precision tracking of manipulator.
出处
《控制工程》
CSCD
北大核心
2014年第S1期121-124,128,共5页
Control Engineering of China
关键词
车载倒立摆
CMAC
补偿控制
机械臂
高精度跟踪
inverted pendulum system
CMAC
compensating control
manipulator
high-precision tracking
