基于Kalman 滤波与滑模控制的倒立摆控制器设计  

Design of Inverted Pendulum Controller Based on Kalman Filter and Sliding Mode Control

作　　者：韩治国[1] 许锦 陈能祥 HAN Zhiguo;XU Jin;CHEN Nengxiang(School of Aeronautics,Northwestern Polytechnical University,Xi’an 710072,China;Shenzhen Qianhai Gezhi Technology Co.,Ltd.,Shenzhen 518052,Guangdong,China)

机构地区：[1]西北工业大学航天学院,西安710072 [2]深圳前海格致科技有限公司,广东深圳518052

出　　处：《实验室研究与探索》2021年第6期101-105,共5页Research and Exploration In Laboratory

基　　金：陕西省教育科学“十三五”规划课题(SGH20Y1024);2020年产学合作协同育人项目(202002039009,202002252005)。

摘　　要：针对直线一级倒立摆控制器设计中存在的测量噪声与系统状态不完全可测的问题,基于连续时间Kalman滤波与滑模变结构控制理论设计了控制器。在直线一级倒立摆数学模型建立的基础上,基于连续时间Kalman滤波理论实现对系统全部状态信息的有效估计,同时降低测量噪声对系统状态的影响。随后,根据估计的系统状态信息,基于滑模变结构控制理论进行了控制器设计,并对所设计的控制器进行了稳定性分析。最后,采用Matlab语言设计控制程序,对所设计的控制器进行仿真与实验验证。仿真与实验结果验证了所设计的控制器具有较好的可行性与有效性。Aiming at the problems of measurement noise and incompletely measurable system state in the design of linear one-stage inverted pendulum controller, a controller is designed based on continuous-time Kalman filter and sliding mode variable structure control theory. On the basis of the mathematical model of the linear one-stage inverted pendulum, firstly, based on the continuous-time Kalman filtering theory, the effective estimation of all state information of the system is completed, meanwhile, the influence of measurement noise on the system state is reduced. Secondly, according to the estimated system state information, the controller is designed based on sliding mode variable structure control theory, and the stability of the designed controller is analyzed. Finally, the Matlab language is used to design the control program, and the designed controller is simulated and verified by experiments. Simulation and experiment results verify the feasibility and effectiveness of the designed controller.

关 键 词：直线一级倒立摆 KALMAN滤波 滑模控制 MATLAB仿真 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]