东北石油大学本科生毕业设计论文.doc

摘 要 滑模变结构控制由前苏联学者Emlnv在上世纪五十年代提出,后经Uktni和llkis等人的进一步发展研究。由于它所具有的独特的鲁棒性以及对匹配不确定性和外部干扰的完全自适应性等特点,到上世纪七十年代,逐渐引起了西方学者的重视。目前滑模变结构控制理论已经得到了充分的发展,成为非线性控制理论的一个重要分支,其所研究的对象涉及离散系统、分布参数系统、滞后系统等。然而滑模变结构控制带来的高频抖振是其应用到实际系统的障碍。因此许多其它的先进控制技术如自适应控制、模糊控制、神经网络控制等也被综合应用到滑模变结构控制系统设计中,以解决滑模变结构控制系统的抖振,同时还要尽量保持滑模变结构所具有的性能。 倒立摆系统是一种非线性、高阶次、多变量、快速和自然不稳定的动态系统，是研究各种控制理论和方法的理想对象及典型试验装置。在控制过程中能有效地反映诸如可镇定性、鲁棒性、随动性以及跟踪等许多控制中的关键问题。因此，倒立摆机理的研究又具有重要的应用价值，成为控制理论中经久不衰的研究课题。 本文以一阶倒立摆系统为研究对象，研究其自适应滑模控制策略。主要完成了以下工作： (1)利用动力学方程建立一阶倒立摆的数学模型，得出描述系统的微分方程。 (2)基于滑模变结构控制设计一阶倒立摆的滑模控制器，并对其进行了李雅普诺夫稳定性分析。在MATLAB/SIMULINK环境下，针对控制器中符号函数和饱和函数两种情况进行仿真分析。仿真表明，在控制器中加入饱和函数控制效果较好。 (3)在MATLAB/SIMULINK环境下，进行了该自适应滑模控制器仿真研究。 关键词:滑动模态；变结构控制；倒立摆系统；李雅普诺夫函数 Abstract Inverted Pendulum, which is a dynamic system with nonlinearity, high equation orders, multivariable, fast reaction and instinct instability, has become an ideal object and typical experiment technique. Many key matters can be effectively reflected during the control process, such as steady, robustness, stochastic and track issues. Therefore, the research of inverted pendulum mechanism has lasted for many years due to its significant application value and has become an unfailing research task in the field of control theory. The paper uses the single inverted pendulum system as a research object to research its adaptive sliding mode fuzzy control strategy. The main research works are as follows: (1) We use dynamics equation to build the mathematical model of the single inverted pendulum and the differential equations describing the inverted pendulum are given. (2) Based on the principle of sliding mode variable control , a sliding mode controller for the single inverted pendulum is designed and its stability is analyzed by Lyapunov theorem of stability. (3) Aimed at the things of sine wave or square wave being position signal, we respectively simulated for the indirect adaptive controller under MATLAB/SIMULINK environment and good simulation results are obtained. Key