带有未知参数的惯性轮摆系统的自适应控制  

Adaptive Control of the Inertia Wheel Pendulum System with Unknown Parameter

作　　者：王轶卿[1] 谈怡君[1] 张湜[1] 

机构地区：[1]南京工业大学自动化与电气工程学院,江苏南京211816

出　　处：《控制工程》2015年第2期306-311,共6页Control Engineering of China

基　　金：江苏省高校自然科学研究计划项目(12KJB510008)

摘　　要：针对带有未知参数的惯性轮摆系统,提出了一种自适应控制律设计方法。首先利用坐标变换将惯性轮摆系统的动力学模型转化为级联系统的形式。然后,针对系统参数未知的问题,在已有的惯性轮摆系统反馈控制律的基础上,利用控制器迭代设计思想,设计了惯性轮摆系统的自适应控制律,并利用李雅普诺夫稳定性理论证明了所得自适应控制律可以使得带有未知参数的惯性轮摆系统保持在摆杆垂直向上的平衡状态。最后以一个实际的惯性轮摆系统为例,采用该系统的物理参数进行仿真,分析了不同自适应参数下惯性轮摆系统各状态的收敛速度及摆起和稳定时间。仿真结果验证了所设计自适应控制器能够使惯性轮摆系统从垂直向下的平衡位置摆起并稳定在垂直向上的平衡位置。Aimed at the inertia wheel pendulum system with unknown parameters, a design method of controller based on adaptive control theory is proposed. Firstly, through coordinate transformation, the dynamic model of inertia wheel pendulum is transformed into the cascade form. And then, aimed at the problem of uncertain parameters, an adaptive controller is designed through an iterative idea of controller design based on the existent feedback controller of the inertia wheel pendulum system. Through the Lyapunov stability theory, it is proved that the proposed controller can make the inertia wheel pendulum with uncertain parameters keep the stable vertical up state. Finally, referring to a real inertia wheel pendulum, some simulation is taken using its physical parameters. The convergence and the swing-up and stabilization time under different parameters are analyzed. Simulation results show that the inertia wheel pendulum can swing up from the vertical down state to the vertical up state and stabilize using the proposed adaptive controller.

关 键 词：惯性轮摆 自适应控制 反馈镇定 LYAPUNOV函数 

分 类 号：TP27[自动化与计算机技术—检测技术与自动化装置]