直线一级倒立摆的自抗扰控制方法及实现.PDFVIP

xxxx 年xx 月 控 制 工 程 xx. xxxx 第xx 卷x 期 Control Engineering of China Vol.xx, No.x 文章编号：150579 DOI: 10.14107/j.cnki.kzgc.xxxxxx 直线一级倒立摆的自抗扰控制方法及实现 王瑶为,邢科新,马剑,张文安 （浙江工业大学信息工程学院 , 浙江 杭州310032 ） 摘 要：本文针对直线一级倒立摆设计了线性自抗扰控制器。通过扩张状态观测器估计摆 杆角度及角速度，使用两个跟踪微分器分别得到小车位移和速度及参考位移和速度，并将 它们组合成控制量，实现了对摆杆偏角与小车位移的良好控制。最后,在固高公司生产的 GLIP2001 型直线一级倒立摆上设计了实验，并验证了所设计的线性自抗扰控制方法的有效 性与优越性。 关键词：倒立摆；线性自抗扰控制；扩张状态观测器 中图分类号：TPXX 文献标识码：X Implementation and design of active disturbance rejection control for the linear inverted pendulum WANG Yao-wei, XING Ke-xing, MA Jian, ZHANG Wen-an (College of Information Engineering, Zhejiang University of Technology, Hangzhou 310032, China) Abstract: In this paper, the linear active disturbance rejection controller (LADRC) is designed for the linear inverted pendulum. An extended state observer (ESO) is designed to estimate the pendulum angle and its angle velocity, and two tracking differentiators (TD) are designed, respectively, to obtain the car displacement and velocity and the reference displacement and velocity. Then, a linear control law is properly designed based on the ESO and TD to achieve satisfying performance in controlling both pendulum angle and car displacement. Finally, experiments are carried out in the GLIP2001 linear inverted pendulum produced by Googol company, and the experiments demonstrate the effectiveness and superiority of the proposed LADRC. Key words: inverted pendulum; linear active disturbance rejection control; extended state observer 1 引 言 倒立摆是一个绝对不稳