| 二级倒立摆的滑模变结构控制 |
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| 引用本文： | 刘慧文,王生铁,李慧静,袁珩迪.二级倒立摆的滑模变结构控制[J].内蒙古工业大学学报,2014(2):117-124. |
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| 作者姓名： | 刘慧文 王生铁 李慧静 袁珩迪 |
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| 作者单位： | [1]内蒙古工业大学电力学院,呼和浩特010051 [2]内蒙古大学交通学院,呼和浩特010021 |
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| 基金项目： | 内蒙古工业大学科学研究项目（ZS201039）. |
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| 摘 要： | 倒立摆是检验控制算法性能优劣的理想装置。本文以二级倒立摆为控制对象,研究对其实现有效控制的滑模变结构控制策略。在深入研究变结构控制指数趋近律数学本质的基础上,以仿真研究为手段,绘出了其核心参数与倒立摆状态变量性能指标之间的关系曲线。而后根据倒立摆的控制要求,结合曲线走势选定了一组较优的参数。最后使用这组参数进行了仿真实验研究,同时与状态反馈进行了比较,结果表明,滑模变结构控制策略在控制范围和鲁棒性两个方面优于状态反馈控制策略。
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| 关 键 词： | 倒立摆 滑模变结构控制 仿真 |
Slide Mode Variable Structure Control for Double Inverted Pendulum |
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| LIU Huidwen,WANG Shengtie,LI Huijing,YUAN Hengdi.Slide Mode Variable Structure Control for Double Inverted Pendulum[J].Journal of Inner Mongolia Polytechnic University(Social Sciences Edition),2014(2):117-124. |
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| Authors: | LIU Huidwen WANG Shengtie LI Huijing YUAN Hengdi |
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| Institution: | 1. School of Electric Power, Inner Mongolia University of Technology, Hohhot , 010051 2. School of Transportation, Inner Mongolia University, Hohhot, 010051) |
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| Abstract: | Inverted pendulum is an ideal equipment to be used to test the performance of various control strategies .Slide mode variable structure control （SM VSC） strategy for the effective control of the inverted pendulum is investigated .Base on mathematical principles of exponential reaching law , the relationship curve between Inverted pendulum＆#39;s state variables and SMVSC＆#39;s key parameter is plot-ted by simulation ,and the better parameters of the control strategy are selected according to the re-quirement of the inverted pendulum control and the curve .Finally ,an experiment of the simulation is done with the parameters ,followed by the comparison with the state feedback .The results show that SM VSC has better performance than state feedback control in controllable rang and robustness . |
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| Keywords: | Inverted-pendulum Slide mode variable structure control Simulation |
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