柔性二级倒立摆的准滑动模态控制研究  

Research on the control of flexible double inverted pendulum system based on quasi-sliding-mode control

作　　者：王珏[1] 谢慕君[1] 李元春[1] WANG Jue XIE Mu-jun LI Yuan-chun(Institute of Electrical and Electronic Engineering, Changchun University of Technology, Changchun 130012, China)

机构地区：[1]长春工业大学电气与电子工程学院,吉林长春130012

出　　处：《东北师大学报（自然科学版）》2016年第4期83-87,共5页Journal of Northeast Normal University(Natural Science Edition)

基　　金：国家自然科学基金资助项目(61374051)

摘　　要：柔性二级倒立摆是一个高阶非线性强耦合的自然不稳定系统,为了对其进行稳摆控制,基于建模机理建立了柔性二级倒立摆数学模型,提出准滑动模态控制方法,设计了滑模变结构控制器,使系统具有较好的稳摆控制和鲁棒性.仿真结果表明:基于准滑动模态控制的滑模变结构控制方法能够更好地实现倒立摆稳定控制;比传统指数趋近率的滑模控制器输出更加平滑,削弱了抖振.Flexible double inverted pendulum system is a higher order, nonlinear and strong coupling unstable system. In order to steady the pendulum, a mathematical model based on mechanism modeling method is established, and quasi sliding mode control method is put forward, then the sliding mode controller is designed. And then the system has good stability control and robustness. The simulation results show that, the quasi sliding mode control can realize stable control of inverted pendulum,and it is more smooth than general sliding mode control based on exponent trending law in system input, and reducing the shake of the system.

关 键 词：柔性二级倒立摆 滑模变结构 准滑动模态 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]