输入受限的倒立摆系统变结构PID控制研究  

Research on Variable Structure PID Control of Inverted Pendulum System with Input Constraints

作　　者：路莹昕 韩光信[1] LU Yingxin;HAN Guangxin(College of Information and Control Engineering,Jilin Institute of Chemical Technology,Jilin Jilin 132022)

机构地区：[1]吉林化工学院信息与控制工程学院

出　　处：《河南科技》2019年第16期37-38,共2页Henan Science and Technology

摘　　要：针对输入受限的直线一级倒立摆系统控制问题,本文提出了Anti-windup变结构PID控制器。在输入受限的倒立摆系统中,对传统PID与Anti-windup变结构PID的两重算法仿真实验对比研究,结果显示:Antiwindup变结构PID不仅可以满足输入受限倒立摆系统的控制要求,还具有良好的稳态效果、较短的调节时间和较小的超调量。For the control problem of linear inverted inverted pendulum system with limited input,this paper pro?posed an Anti-windup variable structure PID controller.In the input-constrained inverted pendulum system,the sim?ulation experiments of the traditional PID and Anti-windup variable structure PID were compared.The results show that Anti-windup variable structure PID can not only meet the control requirements of the input-constrained invert?ed pendulum system,but also have good steady-state effect,shorter adjustment time and smaller overshoot.

关 键 词：倒立摆系统 ANTI-WINDUP 变结构PID 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]