摘要
利用滑模变结构控制对一级倒立摆系统进行了有效控制.首先对一级倒立摆系统的模型进行线性化处理,再利用滑模变结构控制方法对此模型中摆的镇定、台车位置的调节和系统参数不确定性设计了具体的控制规律,并使用饱和函数的方法抑制系统的抖振.最后在Matlab/Simulink上进行了仿真实验,实验结果说明滑模变结构控制方法是有效的.
The sliding mode control strategy is employed to realize the stable control of the inverted pendulum system.After linearizing the inverted pendulum model,detailed control rules were designed for the stable control of the pendulum,adjusting the cart displacement and the robust control of the system based on sliding mode control method.The system's chattering was then solved by using saturation function method.Finally,Simulation results were given to prove the validity of the sliding mode control strategy.
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2004年第5期720-723,共4页
Control Theory & Applications
