倒立摆变结构控制系统的设计与实验  

Design and Experiment of Variable Structure Controlle for Double Inverted Pendulum

作　　者：刘琛[1] 周军[1] 

机构地区：[1]西北工业大学精确控制与制导研究所,西安710072

出　　处：《科学技术与工程》2007年第7期1351-1354,共4页Science Technology and Engineering

摘　　要：用变结构法设计了倒立摆控制器,为削弱变结构控制系统的抖振,提出了一种方法来改进控制器,仿真和实验表明,该设计方法是有效的。Control law of the variable structure controller for the inverted pendulum system, is compared In order to reduce the flutter phenomenon of the variable structure controller system, a method to improve variable structure control law is proposea. The simulation and experimental results show that the present method is effective.

关 键 词：二级倒立摆 变结构控制 抖振 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]