| 基于滑模的平行双倒立摆系统稳定控制研究 |
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| 引用本文： | 张春,徐开红,江明.基于滑模的平行双倒立摆系统稳定控制研究[J].昆明理工大学学报(理工版),2008,33(3):78-81. |
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| 作者姓名： | 张春 徐开红 江明 |
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| 作者单位： | 1. 安徽工程科技学院,电气工程系,安徽芜湖,241000
2. 苏州松特商贸有限公司,深圳分公司,广东深圳,518048 |
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| 基金项目： | 安徽省教育厅自然科学基金 |
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| 摘 要： | 结合控制目标对两摆间无弹簧连接的平行双倒立摆系统进行合理建模,验证所建模型可行性,讨论系统能控性和参数间的关系,设计了滑模变结构控制律,仿真结果表明滑模变结构控制能实现平行双倒立摆系统的稳定控制.
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| 关 键 词： | 倒立摆 滑模 变结构控制 电机控制 |
Stabilization Control of Parallel Type Inverted Pendulum Based on Sliding Mode |
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| ZHANG Chun,XU Kai-hong,JIANG Ming.Stabilization Control of Parallel Type Inverted Pendulum Based on Sliding Mode[J].Journal of Kunming University of Science and Technology(Natural Science Edition),2008,33(3):78-81. |
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| Authors: | ZHANG Chun XU Kai-hong JIANG Ming |
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| Abstract: | With regard to the control objective,this paper validates the feasibility and discusses the relations between the controllability and the parameters through the rationality model for the parallel-type inverted pendulum without springs.The law of sliding mode control is also designed. It is proved through the simulation result that the sliding mode control can realize the stabilization control of parallel-type inverted pendulum. |
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| Keywords: | inverted pendulum sliding mode variable structure control motor control |
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