论文部分内容阅读
针对经典车杆系统(CPS)为简化而不考虑阻尼力的问题,提出一种PD控制器和扭曲滑模变结构混合控制方法。首先,对车杆系统模型进行变换,将原系统改写为四阶积分器链形式,考虑阻尼力并附加非线性扰动;其次,利用PD控制器的快速响应特性,将杆位置迅速控制在较为紧凑的区域,然后利用改进扭曲滑模控制器将系统状态控制在不稳定平衡点附近;最后,基于多Lyapunov函数对系统的进行稳定性分析,并给出数值仿真验证。
Aiming at the simplification of classic rod system (CPS) without considering the damping force, a hybrid control method of PD controller and torsional sliding mode variable structure is proposed. First of all, the model of the rod system is transformed, the original system is rewritten as a fourth-order integrator chain, taking into account the damping force and nonlinear perturbation. Secondly, the rapid response of the PD controller is used to control the position of the rod in a relatively compact Then, the modified twist sliding mode controller is used to control the system state near the unstable equilibrium point. Finally, the stability of the system is analyzed based on the multi-Lyapunov function, and the numerical simulation is given.