平面倒立摆系统的自校正仿人协调控制  

Stabilize the Planar Inverted Pendulum System Using a Way of Self-Correction and Human-Simulating Coordination

作　　者：唐永川[1,2] 刘枫[1,2] 祁虔[1,2,3] 李祖枢[3] 高帆[1] 

机构地区：[1]西南大学计算机与信息科学学院,重庆400715 [2]重庆市智能仪表及控制装备工程技术研究中心,重庆400715 [3]重庆大学自动化学院,重庆400030

出　　处：《西南大学学报（自然科学版）》2013年第10期94-104,共11页Journal of Southwest University(Natural Science Edition)

基　　金：国家"863"计划课题(2012AA041101)资助;中央高校基本科研业务费专项资金资助项目(XDJK2013C119)

摘　　要：针对平面倒立摆系统的多变量、强耦合特性,在充分分析其物理特性后,设计出X和Y方向的摆杆/小车九点控制器,并结合摆杆优先级高于小车原则,提出了自校正仿人协调控制方案,实现了平面倒立摆系统各耦合变量之间的协调解耦,进而完成系统的无模型稳定控制.该方案模拟人的智能,体现人认识物理对象特性的过程,是一种表达人类控制经验、逻辑的新型方案.鲁棒性实验表明该方案简单有效且具有良好的鲁棒性.Taking into consideration the characteristics of strong coupling and multi-variables of the planar inverted pendulum system, and based on its physical characteristics, a rod nine-point controller and a cart nine-point controller are designed for the X-axis and the Y-axis, respectively. Then, based on the priority of the rod to the cart, a self-correction and human-simulating coordinate control stategy is put forward. In this way, the multi-variables are coordinated well without coupling and, finally, the whole system realizes its stabilization. The designed control strategy simulates human intelligence and refelects the process of human＇s understanding the characteristics of physical objects and therefore is a new control strategy to express human＇s control experience and logic. A robustness experiment verifies the effectiveness and rubustness of the control strategy.

关 键 词：平面倒立摆 自校正 仿人协调 鲁棒性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]