平面二级倒立摆的圆周行走与镇定控制  

Circular Motion and Balance Control of the Planar Double Inverted Pendulum

作　　者：段学超[1] 仇原鹰[1] 盛英[1] 

机构地区：[1]西安电子科技大学机电工程学院,西安710071

出　　处：《自动化学报》2007年第12期1337-1340,共4页Acta Automatica Sinica

基　　金：国家自然科学基金(10433020);教育部留学回国人员实验室基金(030401)资助~~

摘　　要：采用拉格朗同方程建立了平面二级倒立摆的非线性动力学模型,将其在平衡位置线性化,得到系统在两个正交控制方向解耦的近似模型.针对每一个方向上由互相耦合的基座小车定位子系统和摆杆镇定子系统所组成的六阶欠驱动系统,设计了自适应滑模模糊控制器,实现了基座小车沿圆周行走条件下摆杆的镇定控制,验证了该控制算法对欠驱动、不稳定、多变量耦合系统的有效性.The nonlinear dynamical model of the planar double inverted pendulum is developed with Lagrangian formulation firstly. Then, the linearization of the model at its equilibrium yields to the decoupled linear systems of the inverted pendulum in two perpendicular control directions. Both of the two systems consist of positioning subsystem of the base cart and balancing system of the poles. For each direction, the adaptive sliding mode fuzzy control approach is developed. Finally, the circular motion of the base cart is implemented while keeping the pole balance, which validates the effectiveness of the adaptive sliding mode fuzzy control strategy in underactuated, unstable, and multi-variable coupled system.

关 键 词：平面二级倒立摆 解耦 欠驱动系统 自适应滑模模糊控制 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]