基于滑模观测器的环形倒立摆控制系统的设计与实现  

Design and Realization of Circular Inverted Pendulum Control System Based on Sliding Mode Observer

作　　者：邵瑞[1] 张昌凡[1] 黄宜山[1] 戴璐[1] 

机构地区：[1]湖南工业大学电气信息工程学院,湖南株洲412008

出　　处：《测试技术学报》2010年第2期133-139,共7页Journal of Test and Measurement Technology

基　　金：国家自然科学基金资助项目(60774069);湖南省自然科学基金资助项目(07JJ3118)

摘　　要：针对多变量、非线性、强耦合的环形倒立摆系统,提出了一种滑模观测器的方案.该方案在采用Lagrange函数建立状态空间方程的基础上,利用能量控制策略实现自动起摆;采用最优控制理论中的极点配置法设计倒立摆系统的控制器;同时利用滑模变结构的等值原理设计观测器,实现对系统未知状态变量的观测.仿真结果表明:该方法能较好地实现对未知变量的跟踪.并通过对实际环形倒立摆系统的实时控制,验证了该方案的有效性,证明了所提方法具有良好的跟踪性能.A sliding mode observer proposal has been presented for the multi-variable, nonlinear, strong coupling circular inverted pendulum system in this paper. First, the state-space equation of the circular inverted pendulum system was established based on the Lagrange Equation. On the base of that, the circular inverted pendulum was swung up by the energy control strategy, and the controller of the system was designed by the pole placement of the optimal control theory. Second, in order to realize the observation for the unknown variables, stable state observers were designed based on the equivalent principle of sliding mode variable structure. The simulation experiments show that the method can achieve good tracking of the unknown variables. Finally, the real-time control of the actual inverted pendulum system verifies the validity of the proposed approaches, shows that the method has a good tracking performance.

关 键 词：环形倒立摆 非线性系统 极点配置 滑模观测器 实时控制 

分 类 号：TP273.1[自动化与计算机技术—检测技术与自动化装置]