基于滑模变结构控制的二级倒立摆实验仿真研究

针对二级倒立摆系统的快速响应及其稳定和鲁棒控制问题,以直线二级倒立摆为研究对象,在建立其非线性数学模型的基础上,利用极点配置方法设计了滑模变结构控制器。将所设计的控制器应用到二级倒立摆系统,实验仿真表明,该控制策略实现了对二级倒立摆系统的实时跟踪控制,系统具有较好稳定控制和较强抗干扰能力。

Research of sliding mode variable structure base on double inverted pendulum

To address such issues as quick response,stability and robust control of the double inverted pendulum system,the linear double inverted pendulum is researched as the object on the base of establishing its nonlinear mathematical model,so the sliding mode variable structure controller is designed by using poles method.At last,the designed controller is applied to the two-level inverted pendulum system,the experimental results show,the real-time tracking control is achieved for the two-level inverted pendulum ...