倒立摆系统的鲁棒H_∞加权混合控制  

Robust H_∞ weighted hybrid control for inverted pendulum system

作　　者：杜璧秀[1] 

机构地区：[1]中国科学院长春光学精密机械与物理研究所,吉林长春130033

出　　处：《现代电子技术》2013年第2期77-79,82,共4页Modern Electronics Technique

摘　　要：为了建立控制理论教学及开展各种控制实验的理想实验平台,研究了存在结构参数不确定性和具有干扰信号的倒立摆系统。首先将该系统分解为摆杆控制系统和小车控制系统。摆杆控制系统采用T S模糊模型来描述,利用系统的不确定性把系统表示成不确定系统的形式,采用鲁棒H_∞控制策略及LMI优化算法解算出反馈值,并设计出全局渐进稳定的模糊模型;小车控制系统则采用对位置误差和小车速度进行模糊化计算的方法,再利用模糊控制器进行处理计算,并最终得出控制量。最后再对两个系统进行加权混合控制。对倒立摆系统进行外加干扰信号、给定平移指令以及参数摄动等实验时,系统均可以在0.4 s的时间内取得良好的控制效果。实验结果表明:提出的加权控制方法具有较强的鲁棒稳定性和良好的抗干扰性能,验证了该方法的有效性。In order to establish an ideal experimental platform for the control theory teaching and various control experiments,the inverted pendulum system with uncertain structural parameter and interfering signal is studied.Firstly,this inverted pendulum system is decomposed into swinging rod control system and vehicle control system.Takagi-Sugeno（T-S） fuzzy model is adopted to describe the swinging rod control system,which is expressed in the form of uncertain systems according to the uncertainty of the system.The robust control strategy and LMI optimization algorithm are utilized to resolve the feedback results,and design the overall asymptotically stable fuzzy model.The method of fuzzy computation for the position error and the vehicle velocity is applied to the vehicle control system,and then the controlled variable are obtained by calculations with the fuzzy controller.Finally,the weighted hybrid control is applied to the two systems.In the experiments of additional jamming signal,given translation instruction and parameter perturbation,the inverted pendulum system can achieve perfect control effect within 0.4 second.The results show that the weighted control method proposed in this paper has high robust stability and high anti-interference performance.

关 键 词：倒立摆系统 TS模糊控制 鲁棒镇定 参数不稳定性 线性矩阵不等式 

分 类 号：TN911.34[电子电信—通信与信息系统] TP273.4[电子电信—信息与通信工程]