| 引用本文: | 武利强, 韩京清.直线型倒立摆的自抗扰控制设计方案[J].控制理论与应用,2004,21(5):665~669.[点击复制] |
| WU Li-qiang, HAN Jing-qing.Active disturbance rejection controller scheme for the linear inverted pendulum[J].Control Theory and Technology,2004,21(5):665~669.[点击复制] |
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| 直线型倒立摆的自抗扰控制设计方案 |
| Active disturbance rejection controller scheme for the linear inverted pendulum |
| 摘要点击 2472 全文点击 2805 投稿时间：2004-04-30 |
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| DOI编号 10.7641/j.issn.1000-8152.2004.5.001 |
| 2004,21(5):665-669 |
| 中文关键词 倒立摆 自抗扰控制 跟踪微分器 扩张状态观测器 |
| 英文关键词 inverted pendulum active disturbance rejection controller tracking differentiator extended state observer |
| 基金项目 国家自然科学基金资助项目(60174027). |
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| 中文摘要 |
| 对直线型倒立摆系统,采用自抗扰控制技术来设计控制方案.对于这样的单输入双输出、强非线性、强耦合的不稳定系统,在原自抗扰控制算法的基础上,通过增加一个跟踪微分器和控制律由两个被控量的误差组合构成的方法,突破了原有的自抗扰控制算法只适用于单输入单输出系统的限制,实现了摆的偏角和小台车位移的良好控制效果,数字仿真结果证实了这种方法的有效性. |
| 英文摘要 |
| The controller design of the linear inverted pendulum is studied,by using the scheme of active disturbance rejection controller (ADRC). For such a single-input-two-output unstable system with strong nonlinearity and strong coupling,the control scheme was accomplished by adding a tracking differentiator and the feedback control law comprised of the errors of the two controlled variables,instead of the only one in the usual ADRC scheme. This method expanded the range that the ADRC scheme can deal with. The simulation results showed that the departed angle of the pendulum and the displacement of the cart were well controlled. |