| 基于滑模变结构的倒立摆系统稳定控制 |
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| 引用本文： | 袁性忠,姜新建.基于滑模变结构的倒立摆系统稳定控制[J].控制理论与应用,2004,21(5):720-723. |
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| 作者姓名： | 袁性忠 姜新建 |
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| 作者单位： | 清华大学,电机系,北京,100084 |
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| 摘 要： | 利用滑模变结构控制对一级倒立摆系统进行了有效控制.首先对一级倒立摆系统的模型进行线性化处理,再利用滑模变结构控制方法对此模型中摆的镇定、台车位置的调节和系统参数不确定性设计了具体的控制规律,并使用饱和函数的方法抑制系统的抖振.最后在Matlab/Simulink上进行了仿真实验,实验结果说明滑模变结构控制方法是有效的.
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| 关 键 词： | 倒立摆系统 滑模控制 抖振 |
| 文章编号： | 1000-8152(2004)05-0720-04 |
| 收稿时间： | 2004/4/30 0:00:00 |
Stabilizing control of inverted pendulum using sliding mode control scheme |
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| YUAN Xing-zhong,JIANG Xin-jian.Stabilizing control of inverted pendulum using sliding mode control scheme[J].Control Theory & Applications,2004,21(5):720-723. |
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| Authors: | YUAN Xing-zhong JIANG Xin-jian |
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| Affiliation: | Department of Electrical Engineering,Tsinghua University,Beijing 100084,China |
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| Abstract: | The sliding mode control strategy is employed to realize the stable control of the inverted pendulum system.After linearizing the inverted pendulum model,detailed control rules were designed for the stable control of the pendulum,adjusting the cart displacement and the robust control of the system based on sliding mode control method.The system's chattering was then solved by using saturation function method.Finally,Simulation results were given to prove the validity of the sliding mode control strategy. |
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| Keywords: | inverted pendulum system sliding mode control chattering |
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