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倒立摆是一种高阶、多变量的自不稳定系统;柔性倒立摆是倒立摆的一种,在两小车之间增加了一个自由振荡环节,其控制难度类似于一个二级倒立摆的控制;针对柔性连接倒立摆的平衡控制问题,设计前馈补偿滑模控制器,实现了系统的有效控制;为测试系统的鲁棒性,对系统实施加扰实验,将所设计的控制方法与LQR控制方法进行比较。实验结果表明:所设计的前馈补偿滑模控制器能有效实现柔性倒立摆的稳定控制,并获得了较好的鲁棒性,控制效果要优于LQR方法。
Inverted pendulum is a high-order, multivariable self-instability system; the flexible inverted pendulum is a kind of inverted pendulum, a free-swinging link is added between the two trolleys, the control difficulty is similar to the control of a two-stage inverted pendulum In order to solve the problem of balance control of flexible inverted pendulum, feedforward compensation sliding mode controller is designed to realize effective control of the system. To test the robustness of the system, the system is scrambled experimentally, and the designed control method is compared with LQR Control method to compare. The experimental results show that the designed feedforward compensation sliding mode controller can effectively control the flexible inverted pendulum and achieve better robustness, and the control effect is superior to the LQR method.