摘要
针对直线一级倒立摆设计了线性自抗扰控制器(Liner Active Disturbance Rejection Controller,LADRC)。通过扩张状态观测器估计摆杆角度及角速度,使用2个跟踪微分器分别得到小车位移和速度及参考位移和速度,并将它们组合成控制量,实现了对摆杆偏角与小车位移的良好控制。最后,在固高公司生产的GLIP2001型直线一级倒立摆上设计了实验,并验证了所设计的线性自抗扰控制方法的有效性与优越性。
In this paper, the linear active disturbance rejection controller （LADRC） is designed for the linear inverted pendulum. An extended state observer （ESO） is designed to estimate the pendulum angle and its angle velocity, and two tracking differentiators （TD） are designed, respectively, to obtain the car displacement and velocity and the reference displacement and velocity. Then, a linear control law is properly designed based on the ESO and TD to achieve satisfying performance in controlling both the pendulum angle and the car displacement. Finally, experiments are carried out on the GLIP2001 linear inverted pendulum produced by Googol company, and the experiments demonstrate the effectiveness and superiority of the proposed LADRC.
出处
《控制工程》
CSCD
北大核心
2017年第4期711-715,共5页
Control Engineering of China
基金
国家自然科学基金(61202203
61573319)
"钱江人才计划"项目(QJD1302012)
浙江省浙江工业大学信息工程学院重中之重学科开放基金资助(20140808)
关键词
倒立摆
线性自抗扰控制
扩张状态观测器
Inverted pendulum
linear active disturbance rejection control
extended state observer
