三并联倒立摆多变量耦合控制器的设计  

Multiplex Variable Cross Coupling Controller of Parallel Triple Inverted Pendulum

作　　者：柴存平[1] 周军[1] 

机构地区：[1]西北工业大学航天学院,西安710072

出　　处：《弹箭与制导学报》2005年第S4期314-317,共4页Journal of Projectiles,Rockets,Missiles and Guidance

摘　　要：系统作滑模运动时,其模态几乎与外界扰动和参数摄动无关,而且在很大程度上与交耦参数也无关:运用滑模变结构控制理论,并以 MATLAB 语言以及 SIMULINK 仿真工具为辅助设计工具,在计算机上对三并联耦合倒立摆控制器进行分析与设计。仿真试验结果表明三并联耦合倒立摆滑模变结构控制系统有很强的鲁棒性和自适应能力。The variable structure control strategy made the system's mold almost irrelevant with outsider interference and parameter variable,as well as cross coupling parameter.This paper use the variable structure control strategy and with MATLAB language as assistant design tool,carry out analysis and design work of outer controller ot parallel triple inverted pendulum balance system.Simulation results show that the system has stronger robustness and anti-interfer- ence ability.

关 键 词：变结构控制 滑动模态 仿真 三并联耦合倒立摆 

分 类 号：TM571[电气工程—电器]