共查询到19条相似文献，搜索用时 156 毫秒
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倒立摆系统是典型的非线性、多变量、强耦合的系统,广泛应用于对各种控制理论和控制策略的有效性的检验。文中仅使用固高公司提供的伺服电机驱动器和倒立摆本体,另行设计了ARM控制器、信号连接电路,编写了运动控制函数库,搭建了一套基于ARM控制器和Linux系统的倒立摆控制系统,并在该实验平台使用PID,极点配置,LQR等算法完成仿真实验,并运用LQR对实际系统进行控制,实现了良好的控制效果。 相似文献
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自抗扰控制技术通过对模型不确定因素和外扰进行补偿,使得控制系统对外扰和不确定因素均有很好的适应能力,能够有效控制多种工业上较为难控的对象,表现了极强的鲁棒性和抗干扰性。倒立摆系统是一个典型的非线性、多变量、绝对不稳定的控制对象,其控制问题具有相当难度。本文应用自抗扰控制技术设计简易的实现算法,并用倒立摆系统来进行验证。仿真结果表明了算法的有效性。 相似文献
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面向PID电力系统信息安全自动控制研究 总被引：1，自引：0，他引：1
PID电力安全控制系统是一个闭环控制算法.因此要实现PID电力安全控制系统算法,必须在硬件上具有闭环控制,就是得有反馈.比如控制一个电机的转速,就得有一个测量转速的传感器,并将结果反馈到控制路线上. 相似文献
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针对二级倒立摆系统的快速响应及其稳定和鲁棒控制问题,以直线二级倒立摆为研究对象,在建立其非线性数学模型的基础上,利用极点配置方法设计了滑模变结构控制器。将所设计的控制器应用到二级倒立摆系统,实验仿真表明,该控制策略实现了对二级倒立摆系统的实时跟踪控制,系统具有较好稳定控制和较强抗干扰能力。 相似文献
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一级倒立摆仿真模型的建立 总被引：1，自引：0，他引：1
针对一级倒立摆系统,首先利用牛顿力学的知识建立了数学模型,然后利用Simulink及其封装功能建立了倒立摆系统的仿真模型,使模型更具灵活性,给仿真带来很大方便。 相似文献
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Michael Basin Pablo Rodriguez-Ramirez Steven X. Ding Tim Daszenies Yuri Shtessel 《Journal of The Franklin Institute》2018,355(5):2762-2778
This paper presents a novel continuous fixed-time convergent control law for dynamic systems in the presence of unbounded disturbances. A continuous fixed-time convergent control is designed to drive all states of a multi-dimensional integrator chain at the origin for a finite pre-established (fixed) time, using a scalar input. The fixed-time convergence is established and the uniform upper bound of the settling time is computed. The designed control algorithm is applied to fixed-time stabilization of two mechatronic systems, a cart inverted pendulum and a single machine infinite bus turbo generator with main steam valve control. 相似文献
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Gisela Pujol-Vazquez Leonardo Acho Saleh Mobayen Amelia Nápoles Vega Pérez 《Journal of The Franklin Institute》2018,355(10):4077-4096
The main objective of this paper is to drive a rotary inverted pendulum by following a desired navigation instruction. This navigation is commanded by the user through a new electromagnetic device which is allowed to perturb the pendulum from its upright position. This apparatus consists of an electronic magnetic driving circuit to introduce commands and realized via two operated magnetic coils. So, the external programmed magnetic perturbation can be seen as external commandments. Therefore, the control problem statement is solved via a modified regulation control implementation, to maintain the pendulum on its upright position and giving free manipulation of the base of the rotary inverted pendulum. Hence, by using the corresponding H∞-linear matrix inequality technique, a static state controller is designed and tested experimentally so supporting our findings. 相似文献
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《Journal of The Franklin Institute》2001,338(2-3):321-334
The paper solves using wavelet transform a nonlinear control problem of multibody systems. After, we present a wavelet collocation method to solve a nonlinear time-evolution problem, discrete wavelet transform and the algorithm for interpolation functions and the derivative matrix. We consider a nonlinear quadratic control for an inverted pendulum as a numerical example. The results, using Haar wavelets in algebrization of problem, are accurate compared with those from the literature. The method can be extended for any nonlinear control problem obtaining better results than other procedure for localized phenomena. 相似文献
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In this paper, a sliding mode controller (SMC) is proposed for control of a wheeled inverted pendulum (WIP) system, which consists of a pendulum and two wheels in parallel. The control objective is to use only one actuator to perform setpoint control of the wheels while balance the pendulum around the upright position, which is an unstable equilibrium. When designing the SMC for the WIP system, various uncertainties are taken into consideration, including matched uncertainties such as the joint friction, and unmatched uncertainties such as the ground friction, payload variation, or road slope. The SMC proposed is capable of handling system uncertainties and applicable to general underactuated systems with or without input coupling. For switching surface design, the selection of the switching surface coefficients is in general a sophisticated design issue because those coefficients are nonaffine in the sliding manifold. In this work, the switching surface design is transformed into a linear controller design, which is simple and systematic. By virtue of the systematic design, various linear control techniques, such as linear quadratic regulator (LQR) or linear matrix inequality (LMI), can be incorporated in the switching surface design to achieve optimality or robustness for the sliding manifold. To further improve the WIP responses, the design of reference signals is addressed. The reference position for the pendulum is adjusted according to the actual equilibrium of the pendulum, which depends on the size of the friction and slope angle of the traveling surface. A smooth reference trajectory for the setpoint of the wheel is applied to avoid abrupt jumps in the system responses, meanwhile the reaching time of the switching surface can be reduced. The effectiveness of the SMC is validated using intensive simulations and experiment testings. 相似文献
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《Journal of The Franklin Institute》2022,359(11):5206-5230
In the existing efficient robust model predictive control (ERMPC) algorithms (see e.g. [14,31,32]), through offline optimization and online lookup table calculation, a fixed state feedback control law or a linear interpolated control law is applied to a system when the system state lies between two adjacent polyhedrons, which undoubtedly will result in conservativeness of the controller. Faced with this issue, an improved ERMPC algorithm is proposed in this paper, which considers the nonlinearity between the state feedback control laws with respect to polyhedrons and the norm distance from system state to origin, and can provide continuously variable state feedback control law varying with the state. First, a set of polyhedral parameters and their corresponding state feedback control law sequences are obtained offline by solving a set of LMIs optimization problems. Next, for each state feedback control law sequence, a nonlinear fitting function is established offline between the state feedback control law and its serial number. Then a simplified lookup table is constructed offline to save memory space and shorten online computation time of the controller. According to the simplified lookup table and information of the norm distance from system state to origin, we online establish the coordinate of current state in the nonlinear fitting curve for getting current feedback control law, which changes continuously with the state. The proposed ERMPC algorithm is successfully applied to an actual fast-responding linear one stage inverted pendulum (LOSIP) system to verify its effectiveness. 相似文献
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Aytekin Bagis 《Journal of The Franklin Institute》2011,348(10):2795-2812
This paper presents a tuning approach based on a tabu search algorithm (TSA) to obtain the optimal proportional-integral-derivative (PID) controller parameters in order to achieve a desired transient response. TSA is used to determine the main parameters of the PID controller. The performance of the PID controlled system is examined by considering the characteristics of the step response of the plant. Simulation results demonstrate that the tabu algorithm based approach is one of the useful methods for PID controller tuning, and using by the presented method, performance of the controlled system can be significantly improved according to the given control specifications. 相似文献