直线倒立摆线性自抗扰控制器的设计及仿真  

Design and Simulation of Active Disturbance Rejection Controller for Linear Inverted Pendulum

作　　者：于宗艳 韩连涛 王丽 YU Zongyan;HAN Liantao;WANG Li(School of Electrical and Control Engineering,Heilongjiang University of Science and Technology,Harbin 150022,China;Harbin Electric Science and Technology Co.,Ltd.,Harbin 150040,China)

机构地区：[1]黑龙江科技大学电气与控制工程学院,哈尔滨150022 [2]哈尔滨电气科学技术有限公司,哈尔滨150040

出　　处：《自动化与仪表》2023年第12期85-90,共6页Automation & Instrumentation

摘　　要：针对直线一级倒立摆系统,该文利用自抗扰控制技术对其设计了线性自抗扰控制器。运用自抗扰控制能够实现解耦的思路,对摆的偏角和小台车位移通道设计了线性扩张状态观测器。为了提高控制器的控制效果,在观测器的设计中引入了已知模型信息。仿真实验结果表明,设计的线性自抗扰控制器能够实现对倒立摆摆的偏角和小台车位移的稳定控制,相比传统自抗扰控制器简化了参数调整问题,仿真结果进一步说明自抗扰控制器不依赖于对象模型,超调小、响应快、精度高,具有良好的抗干扰能力和强鲁棒性。The linear active disturbance rejection controller(LADRC)is designed for the linear inverted pendulum.Adopting the thinking of dynamic disturbance decoupling control strategy,extended state observers(LESO)are designed for pendulum angle and cart position channels respectively.The model information known is used in extended state observers design in order to improve the effect of controller.Simulation results show that the stability control of the pendulum angle and the car displacement is realized and the linear active disturbance rejection controller can simplify the tuning process compared with active disturbance rejection controller.The results further demonstrate the fast response speed,small overshoot,high accuracy,strong ability of rejecting disturbance and robustness of the ADRC method which is model-independent.

关 键 词：倒立摆 线性自抗扰控制 抗扰性 鲁棒性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]