内蒙古工业大学学报（自然科学版）
內矇古工業大學學報（自然科學版）
내몽고공업대학학보（자연과학판）
JOURNAL OF INNER MONGOLIA UNIVERSITY OF TECHNOLOGY(NATURAL SCIENCE EDITION)
2013年
3期
214-219
,共6页
刘慧文%王生铁%张计科%李慧静
劉慧文%王生鐵%張計科%李慧靜
류혜문%왕생철%장계과%리혜정
倒立摆%滑模变结构控制%仿真%实物控制
倒立襬%滑模變結構控製%倣真%實物控製
도립파%활모변결구공제%방진%실물공제
inverted-pendulum%Slide mode variable structure control%simulation%physical contr
倒立摆是检验控制算法性能优劣的理想装置，滑模变结构控制策略以其滑动模态的完全鲁棒性而备受关注。本文以天龙I型倒立摆为控制对象，研究对其实现有效控制的滑模变结构控制策略。首先建立了倒立摆的数学模型；其次根据模型特点设计了滑模变结构控制器，最后通过仿真和实物控制两种手段，验证了所论控制策略的正确性和可行性。
倒立襬是檢驗控製算法性能優劣的理想裝置，滑模變結構控製策略以其滑動模態的完全魯棒性而備受關註。本文以天龍I型倒立襬為控製對象，研究對其實現有效控製的滑模變結構控製策略。首先建立瞭倒立襬的數學模型；其次根據模型特點設計瞭滑模變結構控製器，最後通過倣真和實物控製兩種手段，驗證瞭所論控製策略的正確性和可行性。
도립파시검험공제산법성능우렬적이상장치，활모변결구공제책략이기활동모태적완전로봉성이비수관주。본문이천룡I형도립파위공제대상，연구대기실현유효공제적활모변결구공제책략。수선건립료도립파적수학모형；기차근거모형특점설계료활모변결구공제기，최후통과방진화실물공제량충수단，험증료소론공제책략적정학성화가행성。
Inverted pendulum is an ideal equipment to be used to test the performance of various control strategies, Slide mode variable structure control (SMVSC) is concerned for its robustness in slide mode .So, SMVSC strategy for the effective control of the inverted pendulum of Tianlong -I is investigated . its mathematical model are established;according to the characteristics of the controlled object , its related SMVSC controller is designed in the thesis; and its correctness and feasibility are verified by both simulation and physical control in this thesis .
