<I>X-Z</I>倒立摆的一种饱和非线性稳定控制方法的研究

王家军; 刘栋良; 王宝军

doi:10.3724/SP.J.1004.2013.00092

X-Z倒立摆的一种饱和非线性稳定控制方法的研究

doi: 10.3724/SP.J.1004.2013.00092

1.
杭州电子科技大学自动化学院杭州 310018;
2.
浙江交通职业技术学院信息学院杭州 311112

详细信息

通讯作者:
王家军

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出版历程
- 收稿日期: 2011-05-06
- 修回日期: 2012-02-03
- 刊出日期: 2013-01-20

Research on One Type of Saturated Nonlinear Stabilization Control Method of X-Z Inverted Pendulum

1.
School of Automation, Hangzhou Dianzi University, Hangzhou 310018;
2.
Institute of Information Technology, Zhejiang Institute of Communications, Hangzhou 311112

摘要

摘要: X-Z倒立摆不仅具有普通倒立摆的最小相位和欠驱动特性, 同时具有更多的控制自由度.通过一定的状态变换, 发现了X-Z倒立摆与平面垂直起降飞行器模型之间的等价关系. 基于该等价关系,借鉴平面垂直起降飞行器的控制方法, 把饱和非线性控制方法应用于X-Z倒立摆的稳定控制. 通过与PID (Proportion integration differentiation)控制方法的仿真对比,证明了该稳定控制方法的有效性.
- X-Z倒立摆 /
- 平面垂直起降飞行器 /
- 稳定 /
- 非最小相位 /
- 欠驱动
Abstract: X-Z inverted pendulum not only has nonminimum phase and underactuated performance that normal inverted pendulum has, but also has more control freedoms. The equivalence relationship between X-Z inverted pendulum and planar vertical takeoff and landing (PVTOL) aircraft is found through definite states transformation. The saturated nonlinear control method original from the control method of PVTOL aircraft is used to the stabilization control of the X-Z inverted pendulum based on the equivalence relationship between them. The stabilization method is compared with the PID (Proportion integration differentiation) control through simulation. And this proofs the effectiveness of the stabilization method.
- X-Z inverted pendulum /
- planar vertical takeoff and landing (PVTOL) aircraft /
- stabilization /
- nonminimum phase /
- underactuated

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参考文献(1)

[1]

strm K J, Furuta K. Swinging up a pendulum by energy control. Automatica, 2000, 36(2): 287-295[2] Mason P, Broucke M, Piccoli B. Time optimal swing-up of the planar pendulum. IEEE Transactions on Automatic Control, 2008, 53(8): 1876-1886[3] Srinivasan B, Huguenin P, Bonvin D. Global stabilization of an inverted pendulum-control strategy and experimental verification. Automatica, 2009, 45(1): 265-269[4] Maravall D, Zhou C J, Alonso J. Hybrid fuzzy control of the inverted pendulum via vertical forces. International Journal of Intelligent Systems, 2005, 20(2): 195-211[5] Maravall D. Control and stabilization of the inverted pendulum via vertical forces. Robotic Welding, Intelligence and Automation, Lecture Notes in Control and Information Sciences. Berlin: Springer-Verlag, 2004, 299: 190-211[6] Hauser J, Sastry S, Meyer G. Nonlinear control design for slightly non-minimum phase systems: application to V/STOL aircraft. Automatica, 1992, 28(4): 665-679[7] Olfati-Saber R. Global configuration stabilization for the VTOL aircraft with strong input coupling. IEEE Transactions on Automatic Control, 2002, 47(11): 1949-1952[8] Do K D, Jiang Z P, Pan J. On global tracking control of a VTOL aircraft without velocity measurements. IEEE Transactions on Automatic Control, 2003, 48(12): 2212-2217[9] Ailon A. Simple tracking controllers for autonomous VTOL aircraft with bounded inputs. IEEE Transactions on Automatic Control, 2010, 55(3): 737-743[10] Wang J J. Simulation studies of inverted pendulum based on PID controllers. Simulation Modelling Practice and Theory, 2011, 19(1): 440-449[11] Consolini L, Tosques M. On the VTOL exact tracking with bounded internal dynamics via a poincaré map approach. IEEE Transactions on Automatic Control, 2007, 52(9): 1757-1762

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