倒立摆的自抗扰解耦控制方法研究

针对高阶次、多变量、强耦合的倒立摆系统，提出了基于自抗扰解耦控制方法对其进行控制。该方法采用双通道复合控制的方式，突破摆角和小台车相耦合作用的定位控制难点，完成摆角和小台车精确定位控制。采用该方法无需进行精确的输入变量与输出变量配对，只需要对控制作用的耦合矩阵进行静态解耦，分别构建控制通道。对于模型摄动造成的影响和各子对象间的动态耦合作用可由状态观测器（ESO，extended state observer）来估计并反馈到控制器以进行补偿。最终通过调节控制系统的相关参数，达到摆角和小台车位移相耦合作用的定位控制。仿真结果表明：该方法能够完成摆角和小台车位移相耦合作用的定位控制，瞬态性能和稳态性能好，超调量小，具有良好的控制效果。

Method of Auto Disturbance Rejection Decoupling Controller for Inverted Pendulum

For the inverted pendulum system with high order,multiple variables and strong coupling,a control method based on auto disturbance rejection controller(ADRC) is brought forward.The method uses a way of two channels complex control,so the difficulty of orientation control can be overcome when pendulum angle coupling with small vehicle.Instead of exactitude coupling output variables with input variables,a decoupling to the coupling matrix by static coupling and a separate design of control channel based on control variables are adopted in the control method.The error caused by the disturbance and dynamic coupling effects can be estimated by extended state observer(ESO) and fed back to controller to compensate.Through the accommodating related parameters of ADRC,orientation control of pendulum angle coupling with small vehicle can be achieved.The result of simulation by Matlab suggests that the orientation control can be handled well by the method,and it is proved that this method has well transient and steady perfmances,less responding time without overshoot,better control effect.