直线型倒立摆的自抗扰控制设计方案  

Active disturbance rejection controller scheme for the linear inverted pendulum

作　　者：武利强[1] 韩京清[1] 

机构地区：[1]中国科学院数学与系统科学研究院系统科学研究所,北京100080

出　　处：《控制理论与应用》2004年第5期665-669,688,共6页Control Theory & Applications

基　　金：国家自然科学基金资助项目(60174027).

摘　　要：对直线型倒立摆系统,采用自抗扰控制技术来设计控制方案.对于这样的单输入双输出、强非线性、强耦合的不稳定系统,在原自抗扰控制算法的基础上,通过增加一个跟踪微分器和控制律由两个被控量的误差组合构成的方法,突破了原有的自抗扰控制算法只适用于单输入单输出系统的限制,实现了摆的偏角和小台车位移的良好控制效果,数字仿真结果证实了这种方法的有效性.The controller design of the linear inverted pendulum is studied,by using the scheme of active disturbance rejection controller (ADRC). For such a single-input-two-output unstable system with strong nonlinearity and strong coupling,the control scheme was accomplished by adding a tracking differentiator and the feedback control law comprised of the errors of the two controlled variables,instead of the only one in the usual ADRC scheme. This method expanded the range that the ADRC scheme can deal with. The simulation results showed that the departed angle of the pendulum and the displacement of the cart were well controlled.

关 键 词：倒立摆 自抗扰控制 跟踪微分器 扩张状态观测器 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]