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首先,研究复杂条件下倒立摆系统的自抗扰摆角控制,将实际系统存在的周期扰动、模型不确定性和间隙迟滞非线性等效成控制系统的输入端扰动.然后,利用扩张状态对输入端扰动进行建模和估计,通过设计扩张状态观测器和状态反馈实现复杂条件下倒立摆系统的摆角控制.最后,针对一类直线倒立摆进行仿真和实验研究.实验结果表明,倒立摆系统的自抗扰摆角控制能够克服三类影响因素对系统性能的影响,并保持良好的控制效果.
First of all, the automatic disturbance rejection control of inverted pendulum system under complex conditions is studied, and the periodic disturbance, model uncertainty and gap hysteresis nonlinearity of the actual system are equivalent to the input disturbance of the control system.Then, The input side disturbance is modeled and estimated, the swing angle control of the inverted pendulum system under complicated conditions is designed by designing the extended state observer and the state feedback.Finally, the simulation and experimental research on a kind of linear inverted pendulum is carried out.The experimental results show that the inverted pendulum The system self-disturbance disturbance angle control can overcome the influence of three kinds of influencing factors on the system performance and maintain a good control effect.