摘要
文章针对两轮自平衡车的平衡控制问题,提出一种新型滑模控制方法。该方法首先将平衡控制系统分解为摆角子系统和位移子系统,分别设计各子系统的快速终端滑模面,利用一个具有反正切函数形式的中间变量将位移子系统的控制目标嵌入到摆角子系统的控制目标中,从而用1个控制量实现了对2个子系统的有效控制,使其在有限时间内收敛至平衡点;考虑到滑模面系数对系统状态收敛速度的影响,采用模糊推理对系数进行调节,改善了动态响应速度,且从理论上证明了滑模面的稳定性。最后,针对所提出的方法进行仿真,仿真结果验证了该控制方法的有效性。
In order to solve the problem of balance control of two-wheeled self-balancing cart ,a novel sliding-mode control method is proposed in this paper .Firstly ,the balance control system is decom-posed into swing angle subsystem and position subsystem ,and the fast terminal sliding-mode surface is designed for two subsystems respectively .Then an intermediate variable ,which has a form of arct-angent function ,is used to incorporate the control target of position subsystem into the control target of swing angle subsystem ,so that both subsystems can be effectively controlled through a control ac-tion ,and they converge to equilibrium points in finite time .Fuzzy reasoning is used to adjust the slid-ing-mode surface coefficients in consideration of their influence on the convergence rate of system states ,which improves the dynamic response rate .And the stability of the sliding-mode surface is theoretically proved .Finally ,the simulation results show that the control method is effective .
出处
《合肥工业大学学报（自然科学版）》
CAS
CSCD
北大核心
2014年第10期1187-1193,共7页
Journal of Hefei University of Technology：Natural Science
基金
国家自然科学基金资助项目(61100211)
关键词
两轮自平衡车
分解控制
终端滑模控制
模糊推理
two-wheeled self-balancing cart
decomposed control
terminal sliding-mode control
fuzzy reasoning
