基于干扰观测器的倒立摆抗干扰反步控制研究  

Research on Disturbance Observer-Based Anti-Disturbance Backstepping Control of Inverted Pendulum

作　　者：李珺 李艳芳[1] 王成华 魏明鉴 LI Jun;LI Yanfang;WANG Chenghua;WEI Mingjian(Department of Mechanical and Electrical Engineering,Weifang Engineering Vocational College,Weifang 262500,China)

机构地区：[1]潍坊工程职业学院机电工程学院,山东潍坊262500

出　　处：《青岛大学学报（工程技术版）》2023年第4期94-100,共7页Journal of Qingdao University(Engineering & Technology Edition)

基　　金：山东省自然科学基金资助项目(ZR2016FP10);国家自然科学基金青年科学基金资助项目(61703221)。

摘　　要：针对单级直线倒立摆欠驱动性和易受干扰的特点,提出一种基于干扰观测器的倒立摆抗干扰反步控制方法。建立单级直线倒立摆系统的非线性数学模型,将其改写为受干扰时的形式。由于单级直线倒立摆的欠驱动性,当单级直线倒立摆的摆杆受到不确定干扰时,摆杆自身不能调节,需通过小车的位置运动间接调节控制,因此设计了非线性干扰观测器,对干扰进行实时估计,并基于干扰估计值和反步控制方法,利用Lyapunov稳定性理论,设计系统的虚拟控制量和控制量,得到基于干扰观测器的倒立摆抗干扰反步控制器,实现对干扰的抑制。为验证所提算法的有效性,采用文献[20]中单级直线倒立摆的具体参数进行仿真,并搭建Matlab/simulink仿真平台。仿真结果表明,基于干扰观测器的抗干扰反步控制器控制时,为使摆杆重新平衡,小车运动的幅度比基本的反步控制器控制时大约小3.5m,说明该控制方法对瞬时阶跃信号干扰的抑制有效,具有一定的工程应用价值。Aiming at the characteristics of single-stage linear-inverted pendulum that is underactuated and susceptible to disturbance,an anti-disturbance backstepping control method of inverted pendulum based on disturbance observer is proposed.First of all,the nonlinear mathematical model of the single-stage linearinverted pendulum system is established.At the same time,it is rewritten as the form that is disturbed.Due to the under-driving of the single-stage linear-inverted pendulum,the swing rod itself cannot be adjusted when the swing rod of the single-stage linear-inverted pendulum is subject to uncertain disturbance.It can be controlled only through indirect adjustment of the position and movement of the trolley.Therefore,a nonlinear disturbance observer is designed to estimate disturbance in real-time.And based on the disturbance estimation value and backstepping control method,using Lyapunov stability theory,the virtual control and the control of the system are designed.A disturbance observer-based anti-disturbance backstepping controller for an inverted pendulum is obtained to suppress disturbance.To verify the effectiveness of the proposed algorithm,the specific parameters of the single-stage linear inverted pendulum in reference[20]are used for simulation,and a Matlab/Simulink simulation platform is built.The simulation results show that when using a disturbance observer-based anti-disturbance backstepping controller for control,the amplitude of the trolley's motion is approximately 3.5 meters smaller than when using a basic backstepping controller to rebalance the pendulum.The anti-disturbance backstepping control method based on disturbance observer is effective in suppressing the disturbance of instantaneous step signals.This study has certain engineering practical significance.

关 键 词：单级直线倒立摆 干扰观测器 抗干扰 反步控制 

分 类 号：TP273.3[自动化与计算机技术—检测技术与自动化装置]