基于扩张状态观测器的直线倒立摆状态反馈控制研究  

The State Feedback Control of Linear Inverted Pendulum Based on Extended state Observer

作　　者：陈陆曦[1] 张瑞成[2] 

机构地区：[1]北京航空航天大学机械工程及自动化学院,北京100191 [2]河北联合大学电气工程学院,河北唐山063009

出　　处：《数字技术与应用》2014年第11期20-22,共3页Digital Technology & Application

基　　金：河北省自然科学基金资助项目(F2014209192);河北省教育厅重点资助项目(ZD20131011);河北联合大学杰出青年基金资助项目JP201301)

摘　　要：针对直线倒立摆的控制问题,利用拉格朗日方法对实际物理模型进行线性化处理建立数学模型,为了提高控制精度,将不确定外扰和未建模动态视为一个综合扰动项,运用扩张状态观测器对系统状态和综合扰动项进行观测,设计了基于扩张状态观测器的直线倒立摆状态反馈稳摆控制器;用能量反馈方法和bang-bang控制器实现倒立摆起摆到稳摆的切换。通过无干扰和有干扰状态直线倒立摆起摆到稳摆过程的实验研究,表明系统能够有效的抑制外界干扰,具有较强的鲁棒性。Aim at the linear inverted pendulum control problem, a linearization mathematical model is established by using Lagrange method. In order to improve the control precision, the uncertain external disturbance and unmodeUed dynamics are regarded as one integrated disturbance. Using extended states observer（ESO）,a new observer is proposed to observe the states and the integrated disturbance, a state feedback stabilization controUer of linear inverted pendulum based on ESO is designed. The inverted pendulum swing up to stability can realize by energy feedback method and bang-bang control. The experiments show that the system can effectively restrain the outside interference, has strong robustness.

关 键 词：倒立摆 扩张状态观测器 反馈控制 鲁棒性 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程] TH16[自动化与计算机技术—控制科学与工程]