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针对平面倒立摆系统的多变量、强耦合特性,在充分分析其物理特性后,设计出X和Y方向的摆杆/小车九点控制器,并结合摆杆优先级高于小车原则,提出了自校正仿人协调控制方案,实现了平面倒立摆系统各耦合变量之间的协调解耦,进而完成系统的无模型稳定控制.该方案模拟人的智能,体现人认识物理对象特性的过程,是一种表达人类控制经验、逻辑的新型方案.鲁棒性实验表明该方案简单有效且具有良好的鲁棒性.
Aiming at the multivariable and strong coupling characteristics of the plane inverted pendulum system, after fully analyzing its physical characteristics, a nine-point controller of the pendulum / trolley in the X and Y directions is designed. Based on the principle that the pendulum priority is higher than that of the trolley, Self-tuning human-like coordinated control scheme to achieve the coordinated decoupling between the coupling variables of the plane inverted pendulum system, and then to complete the system model-free stable control.The program simulates human intelligence, reflecting the process of human understanding of the characteristics of physical objects is A new scheme to express the experience and logic of human control.The robust experiments show that this scheme is simple and effective and has good robustness.