参数不确定倒立摆系统的EPCH控制与扰动抑制  

EPCH Control and Disturbance Suppression for Parameter Uncertainty Inverted Pendulum System

作　　者：岳聪聪 于海生[1] 吴贺荣[1] YUE Cong-cong;YU Hai-sheng;WU He-rong(School of Automation,Qingdao University,Shandong Qingdao 266071,China)

机构地区：[1]青岛大学自动化学院,山东青岛266071

出　　处：《机械设计与制造》2023年第11期300-304,共5页Machinery Design & Manufacture

基　　金：国家自然科学基金资助项目(61573203)。

摘　　要：针对倒立摆(IP)系统中存在的参数不确定和外部扰动问题,设计了一种新的基于状态误差端口受控哈密顿(EPCH)的控制方法。基于开环端口受控哈密顿(PCH)模型,利用互联配置、阻尼注入和能量成形(ES)的方法,构造了IP系统闭环EPCH模型。针对IP系统中存在的参数不确定,采用自适应方法设计了自适应参数控制律。通过状态扩展的坐标变换方法,提出了一种新的PI控制律,抑制系统中出现的外部扰动。所提出的控制律都保持了闭环系统的PCH结构,保证了系统渐近稳定。仿真和实验结果表明,所提出的控制策略与PID控制方法相比,系统的稳态误差更小、抗扰动能力更强、鲁棒性更好。Aiming at the problem of parameter uncertainties and external disturbance in inverted pendulum(IP)system,a new control method based on state error port-controlled Hamiltonian(EPCH)is designed.Based on the open-loop port-controlled Hamiltonian(PCH)model,the closed-loop EPCH model of IP system is constructed by means of interconnection assignment,damping injection and energy shaping(ES).An adaptive parameter law is designed for the uncertain parameters in IP system.A new PI control law is proposed by means of state-extended coordinate transformation to suppress the external disturbance in the system.The proposed control law preserves the PCH structure of the closed-loop system and ensures the asymptotic stability system.Simulation and experimental results show that compared with PID control method,the proposed control strategy has smaller steady-state error,stronger anti-disturbance capability and better robustness.

关 键 词：倒立摆系统 自适应控制 PI控制 状态误差端口受控哈密顿 

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]