摘要
针对自不稳定球-车系统的结构特点,基于拉格朗日方程对球-车系统建立完整数学模型,并对其进行了简化。观察根据经典控制理论设计的球-车系统双闭环PID控制仿真实验结果,发现双闭环PID控制的快速性与鲁棒性并不理想。为提高控制的快速性与鲁棒性,采用滑模变结构控制对球-车系统的控制进行优化,取得了更优的控制效果。仿真实验验证了球-车系统滑模变结构控制具有更好的快速性与鲁棒性,实现了对自不稳定球-车系统的稳定控制,验证了滑模变结构控制对自不稳定系统具有较好的控制效果。
As the cart-ball system is self-unsteady, this paper builds the intact mathematical model of the cart-ball system based on Lagrange equation and simplifies it. It is observed that the rapidness and robustness of the double closed-loop PID control system is not perfect. To improve the rapidness and robustness of the control system, sliding mode variable structure control is used to optimize the system and better control effects are got. Experiment results indicate that the sliding mode variable structure control of the cart-ball system has better rapidness and robustness and achieves the steady control of the self-unsteady cart-ball system. And it also verifies that the sliding mode variable structure control has better control effects on the self-unsteady system.
出处
《控制工程》
CSCD
北大核心
2015年第4期705-708,共4页
Control Engineering of China
基金
国家自然科学基金(60875066)
关键词
球-车系统
数学建模
滑模变结构控制
鲁棒性
Cart-ball system
mathematical modeling
sliding mode variable structure control
robustness
