摘要
倒立摆是检验控制算法性能优劣的理想装置,滑模变结构控制策略以其滑动模态的完全鲁棒性而备受关注。本文以天龙I型倒立摆为控制对象,研究对其实现有效控制的滑模变结构控制策略。首先建立了倒立摆的数学模型;其次根据模型特点设计了滑模变结构控制器,最后通过仿真和实物控制两种手段,验证了所论控制策略的正确性和可行性。
Inverted pendulum is an ideal equipment to be used to test the performance of various control strategies, Slide mode variable structure control （SMVSC） is concerned for its robustness in slide mode .So, SMVSC strategy for the effective control of the inverted pendulum of Tianlong -I is investigated . its mathematical model are established;according to the characteristics of the controlled object , its related SMVSC controller is designed in the thesis; and its correctness and feasibility are verified by both simulation and physical control in this thesis .
出处
《内蒙古工业大学学报（自然科学版）》
2013年第3期214-219,共6页
Journal of Inner Mongolia University of Technology：Natural Science Edition
基金
内蒙古工业大学科学研究项目(ZS201039)
关键词
倒立摆
滑模变结构控制
仿真
实物控制
inverted- pendulum
Slide mode variable structure control
simulation
physical contr
