倒立摆系统的建模与积分滑模控制

Modeling and Integral Sliding Mode Control of Inverted Pendulum System

摘要:

在研究了倒立摆系统动力学模型的基础上,提出了一种积分滑模变结构的控制方法。通过设计积分性质的非线性滑模面,可以减少系统静差,提高控制精度,系统鲁棒性能获得了很好的保存。仿真证明,该方法能够在较短时间内实现系统的稳定,提高系统的控制精度,使倒立摆系统具有更高的稳定性和鲁棒性。

Abstract:

Based on the research on the inverted pendulum system dynamics model, a kind of integral sliding mode variable structure control method was proposed in this paper. The static error could be reduced and control precision could be proved by the introducing of integral item. Also the system had a strong robustness as the using of sliding mode control. Finally, a detailed numerical simulation was done and the rightness and robustness of the proposed method was testified.