抑制倒立摆测量噪声的反演控制器设计  

Design of Backstepping Controller with Curbing Measurement Noises for an Inverted Pendulum

作　　者：曹伟[1] 孙明[1] CAO Wei;SUN Ming(College of Computer and Control Engineering,Qiqihar University,Heilongjiang Qiqihar 161006,China)

机构地区：[1]齐齐哈尔大学计算机与控制工程学院,黑龙江齐齐哈尔161006

出　　处：《机械设计与制造》2019年第5期72-74,78,共4页Machinery Design & Manufacture

基　　金：国家自然科学基金资助项目(61672304);黑龙江省教育厅基本业务专项理工面上项目(135109240)

摘　　要：针对存在随机测量噪声的单级倒立摆系统,提出了一种带有低通滤波的反演控制方法。该方法将倒立摆系统输出的摆角作为低通滤波器的输入信号,低通滤波器的输出作为滤除测量噪声之后系统输出的摆角。即将倒立摆系统和低通滤波器看作一个整体的被控系统,并根据该系统逐步推导出反演控制律。设计的控制器能够有效滤除测量噪声,增强了系统的鲁棒性,提高了倒立摆系统的跟踪精度,并且该控制器结构简单,便于工程实现。最后,通过仿真实验进一步验证了该控制器的有效性。For a single inverted pendulum system with stochastic measurement noise,a backstepping control method with lowpass filter is proposed. The method uses pendulum angle of inverted pendulum output as input signals of lowpass filter,output of lowpass filter as pendulum angle of output of the system after filtering measurement noise,i.e.,inverted pendulum and lowpass filter are seen as a whole controlled system. Based on the system,a backstepping control law is step-by-step deducted. The designed controller can effectively filter measure noise,increase the robustness of the system and tracking precision of the inverted pendulum system,and its structure is simple and easy to engineering realization. The simulation further testifies the effectiveness of the controller.

关 键 词：倒立摆系统 反演控制 低通滤波器 噪声 位置跟踪 鲁棒性 

分 类 号：TH16[机械工程—机械制造及自动化] TP273[自动化与计算机技术—检测技术与自动化装置]