基于模型设计的倒立摆滑模变结构控制器研究  

Research on Sliding Mode Variable Structure Controller for Inverted Pendulum Based on Model Design

作　　者：陈诚 常广晖[1] 吴杰长[1] 刘树勇[1] Chen Cheng;Chang Guanghui;Wu Jiechang;Liu Shuyong(College of Power Engineering,Naval University of Engineering,Wuhan 430033,China)

机构地区：[1]海军工程大学动力工程学院,武汉430033

出　　处：《单片机与嵌入式系统应用》2022年第1期33-38,共6页Microcontrollers & Embedded Systems

基　　金：国家自然科学基金(51579242)。

摘　　要：提出一种基于模型(MBD)的倒立摆控制器设计方法。相对于传统软件设计流程,MBD具备代码生成和早期算法验证功能。首先运用Lagrange方程建立倒立摆仿真模型;然后设计基于LMI倒立摆滑模变结构控制器算法模型,在仿真环境下与被控模型结合形成控制综合系统并进行仿真实验;接着自动生成滑模变结构高效嵌入式代码,整合成倒立摆控制软件程序后集成部署至嵌入式电路板中,形成实物倒立摆控制系统。通过实物、仿真系统对比结果验证了MBD方法的可行性。An inverted pendulum controller design method based on model-based design(MBD)is proposed.Compared with the traditional software design process,MBD has the function of code generation and early algorithm verification.Firstly,the simulation model of inverted pendulum was established by Lagrange equation.Then,an algorithm model of LMI based inverted pendulum sliding mode variable structure controller is designed,which is combined with the controlled model to form a control integrated system in the simulation environment and the simulation experiment is carried out.Then the sliding mode variable structure efficient embedded code is automatically generated and integrated into the inverted pendulum control software program,which is integrated and deployed into the embedded circuit board to form the physical inverted pendulum control system.The feasibility of MBD method is verified by comparing the results of real object and simulation system.

关 键 词：SIMULINK仿真 滑模变结构 LMI 代码自动生成 

分 类 号：TP302.1[自动化与计算机技术—计算机系统结构]