基于滑模变结构的柔性倒立摆控制研究

Research on the Control of Flexible Inverted Pendulum System based on Sliding Mode Control

摘要:

针对柔性倒立摆稳摆控制比较困难且传统指数趋近率的滑模变结构控制易对系统造成抖振,基于机理建模方法建立柔性倒立摆数学模型,提出变指数趋近率的滑模变结构控制方法,设计了滑模变结构控制器,使系统具有较好的稳摆控制和鲁棒性。仿真结果表明,基于变指数趋近率的滑模变结构控制方法能够更好的实现倒立摆稳定控制,相比于传统指数趋近率的滑模控制器输出更加平滑,进而减小了控制器的负担。

Abstract:

Flexible inverted pendulum system is difficult to steady the pendulum and the sliding mode control based on traditional exponent trending law leads to shake of the system easily. In order to steady the pendulum, a mathematical modelSbased on mechanism modeling method is established, and sliding mode control method based on improved exponent trending law is put forward, then the sliding mode controller is designed. And then the system has good stability control and robustness. The simulation results show that, the sliding mode control based on improved exponent trending law can realize stable control of inverted pendulum, and it is more smooth than sliding mode control based on traditional exponent trending law in system input, and then reducing the burden of the controller.