倒立摆系统的滑模变结构稳定控制  

Sliding mode theory in stabilizing control of inverted pendulum

作　　者：刘春涛[1] 武俊峰[1] 

机构地区：[1]哈尔滨理工大学自动化学院,黑龙江哈尔滨150080

出　　处：《应用科技》2007年第1期42-45,共4页Applied Science and Technology

基　　金：教育部科学技术研究重点基金资助项目(206041);科技部高校博士点专项基金资助项目(20060214004)

摘　　要：应用滑模变结构理论对倒立摆系统的稳定控制进行了应用研究,基于滑模变结构理论二次型指标最优化方法设计了状态反馈控制器.作为对理论工作的验证,将设计的控制器应用到固高科技有限公司生产的直线倒立摆实验设备上,实验表明该方法得到的控制器具有较好的控制效果.This paper makes a study of the application of sliding mode theory in stabilizing control of inverted pendulum system and designs state-feedback controller based on sliding mode theory. The researching results of this paper are applied to linear inverted pendulum experiment equipment produced by googol technology LTD so as to verify the effectiveness of the control law. The results of experiments proves that the controller via this method has a good control effect.

关 键 词：滑模变结构 倒立摆系统 稳定控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]