CAJ | 학술논문

在研究了倒立摆系统动力学模型的基础上，提出了一种积分滑模变结构的控制方法。通过设计积分性质的非线性滑模面，可以减少系统静差，提高控制精度，系统鲁棒性能获得了很好的保存。仿真证明，该方法能够在较短时间内实现系统的稳定，提高系统的控制精度，使倒立摆系统具有更高的稳定性和鲁棒性。
재연구료도립파계통동역학모형적기출상，제출료일충적분활모변결구적공제방법。통과설계적분성질적비선성활모면，가이감소계통정차，제고공제정도，계통로봉성능획득료흔호적보존。방진증명，해방법능구재교단시간내실현계통적은정，제고계통적공제정도，사도립파계통구유경고적은정성화로봉성。
Based on the research on the inverted pendulum system dynamics model, a kind of integral sliding mode variable structure control method was proposed in this paper. The static error could be reduced and control precision could be proved by the introducing of integral item. Also the system had a strong robustness as the using of sliding mode control. Fi-nally, a detailed numerical simulation was done and the rightness and robustness of the proposed method was testified.