基于离散时间输出调节方法的二级倒立摆跟踪控制OA
Tracking control of double inverted pendulum based on discrete-time output regulation method
二级倒立摆是一种典型的多变量、非线性、欠驱动机械系统.同时,小车和导轨之间存在时变的摩擦力.因此,二级倒立摆的高精度跟踪控制问题具有一定的挑战性.为了解决时变参考信号下二级倒立摆的跟踪控制问题,本文基于近似离散时间输出调节理论提出了一种带有自适应摩擦补偿的三阶控制器.首先,采用基于近似离散时间输出调节理论的多项式近似方法,设计了一个三阶控制器来实现无摩擦情况下二级倒立摆的跟踪控制;其次,考虑到小车与导轨之间存在的摩擦力会影响系统的跟踪性能,本文设计了一个自适应摩擦补偿器,并将其与三阶控制器相结合,形成最后的控制方案.实验结果表明,本文所提出的控制算法具有良好的跟踪性能.
Double inverted pendulum is a typical multivariable nonlinear underactuated mechanical system.Meanwhile,time-varying friction force exists between the cart and rail.Thus the high precision tracking control problem of double inverted pendulum is quite challenging.In this paper,based on approximate discrete-time output regulation theory,a third-order controller combined with adaptive friction compensation is proposed to solve the tracking control problem of double inverted pendulum with time-varying reference signal.Firstly,a polynomial approximation method based on approximate discrete-time output regulation theory is adopted to design a third-order controller to realize the tracking control of the double inverted pendulum without friction.Then,considering that the friction force between the cart and rail will affect the tracking performance,in this paper,an adaptive friction compensator is designed and then combined with the third-order controller to synthesize the final control scheme.Finally,the experimental results show that the proposed control algorithm can lead to satisfactory tracking performance.
张文军;平兆武;黄云志;葛锁良;卢俊国
合肥工业大学电气与自动化工程学院,安徽 合肥 230009||工业自动化安徽省工程技术研究中心,安徽 合肥 230009合肥工业大学电气与自动化工程学院,安徽 合肥 230009||工业自动化安徽省工程技术研究中心,安徽 合肥 230009合肥工业大学电气与自动化工程学院,安徽 合肥 230009||工业自动化安徽省工程技术研究中心,安徽 合肥 230009合肥工业大学电气与自动化工程学院,安徽 合肥 230009||工业自动化安徽省工程技术研究中心,安徽 合肥 230009上海交通大学自动化系,上海 200240
二级倒立摆跟踪控制输出调节摩擦补偿欠驱动机械系统
double inverted pendulumtracking controloutput regulationfriction compensationunderactuated me-chanical system
《控制理论与应用》 2026 (3)
684-690,7
国家自然科学基金项目(62273127,62073217),中央高校基本科研业务费项目(JZ2025HGTG0293),安徽省重点研发计划项目(2022a05020025)资助.Supported by the National Natural Science Foundation of China(62273127,62073217),the Fundamental Research Funds for the Central Universities(JZ2025HGTG0293)and the Anhui Provincial Key Research and Development Project(2022a05020025).
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