| 二级倒立摆在常规滑模变结构控制实验中的应用 |
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| 引用本文： | 解晶,张丽香,张晶. 二级倒立摆在常规滑模变结构控制实验中的应用[J]. 计算机与应用化学, 2011, 28(7): 891-894 |
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| 作者姓名： | 解晶 张丽香 张晶 |
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| 作者单位： | 山西大学工程学院,山西,太原,030013 |
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| 基金项目： | 山西省高校重点学科建设重点资助项目资助(20091029) |
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| 摘 要： | 二级倒立摆是一个高度非线性系统,具有强耦合和快速性的特点,必须采用有效的非线性系统的控制方法才可使其稳定在平衡位置.随着智能控制的发展,大多数研究人员和学者将变结构在倒立摆控制系统中的应用,作了大量的理论研究以及仿真实验,为实际应用作了铺垫.但是仿真实验在实际应用过程存在着较强的限制性,其表现为控制器结构越复杂,仿真结...
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| 关 键 词： | 变结构控制 二级倒立摆 滑动模态 |
A double inverted pendulum in conventional sliding model variable structure control experimental applications |
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| Xie Jing,Zhang Lixiang,Zhang Jing. A double inverted pendulum in conventional sliding model variable structure control experimental applications[J]. Computers and Applied Chemistry, 2011, 28(7): 891-894 |
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| Authors: | Xie Jing Zhang Lixiang Zhang Jing |
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| Affiliation: | Xie Jing,Zhang Lixiang and Zhang Jing (Engineering College of Shanxi University,Taiyuan,030013,Shanxi,China) |
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| Abstract: | Because of double inverted pendulum is a highly nonlinear system that is strong coupling and rapid movement characteristics,it must adopt effective nonlinear system control methods are can make its stability in balancing position.In this paper,linear two-level handstand pendulum based on model is established,according to conventional sliding mode variable structure control theory,two nonlinear controllers, constant and proportion were designed,using the simulation platform of MATLAB to simulation research t... |
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| Keywords: | Variable structure control double inverted pendulum sliding mode |
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