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PID控制因其结构简单、易于实现等优点在倒立摆系统的控制研究中被广泛应用,然而以往的研究结果只是保证闭环系统有较好的超调量和调节时间等动态指标,对于由非线性未建模动态引起的高频抖动并未直接考虑。为此文中提出CMAC作为前馈控制器实现对车载倒立摆系统非线性未建模动态的补偿,补偿后的得到的线性系统通过设计PID反馈控制使闭环系统达到渐近稳定。仿真结果表明引入CMAC控制器后,系统不但响应速度明显加快,输出无超调,而且它对于较高频信号的跟踪效果非常好,大大减小了倒立摆在控制过程中的抖动,体现了此复合控制实时性好和鲁棒性强的特点,在机械臂的高精度跟踪控制中得到成功应用。
PID control is widely used in the control research of inverted pendulum because of its simple structure and easy realization. However, the previous research results are only to ensure that the closed-loop system has better dynamic indexes such as overshoot and adjustment time, Unmodelled dynamic dithering is not considered directly. In this paper, CMAC is proposed as a feedforward controller to realize the nonlinear un-modeled dynamic compensation of in-car inverted pendulum system. The compensated linear system achieves the asymptotic stability of the closed-loop system through the design of PID feedback control. The simulation results show that the system not only accelerates the response but also does not overshoot the output after the CMAC controller is introduced. The tracking effect of the CMAC controller is very good, which greatly reduces the jitter of the inverted pendulum in the control process. The advantages of good real-time control and robustness of composite control are successfully applied in high-precision tracking control of robotic arm.