CAJ | 학술논문

针对直线倒立摆的控制问题，利用拉格朗日方法对实际物理模型进行线性化处理建立数学模型，为了提高控制精度，将不确定外扰和未建模动态视为一个综合扰动项，运用扩张状态观测器对系统状态和综合扰动项进行观测，设计了基于扩张状态观测器的直线倒立摆状态反馈稳摆控制器；用能量反馈方法和bang-bang控制器实现倒立摆起摆到稳摆的切换。通过无干扰和有干扰状态直线倒立摆起摆到稳摆过程的实验研究，表明系统能够有效的抑制外界干扰，具有较强的鲁棒性。
침대직선도립파적공제문제，이용랍격랑일방법대실제물리모형진행선성화처리건립수학모형，위료제고공제정도，장불학정외우화미건모동태시위일개종합우동항，운용확장상태관측기대계통상태화종합우동항진행관측，설계료기우확장상태관측기적직선도립파상태반궤은파공제기；용능량반궤방법화bang-bang공제기실현도립파기파도은파적절환。통과무간우화유간우상태직선도립파기파도은파과정적실험연구，표명계통능구유효적억제외계간우，구유교강적로봉성。
Aim at the linear inverted pendulum control problem, a linearization mathematical model is established by using Lagrange method. In order to improve the control precision, the uncertain external disturbance and unmodel ed dynamics are regarded as one integrated disturbance. Using extended states observer(ESO),a new observer is proposed to observe the states and the integrated disturbance, a state feedback stabilization control er of linear inverted pendulum based on ESO is designed. The inverted pendulum swing up to stability can realize by energy feedback method and bang-bang control. The experiments show that the system can effectively restrain the outside interference, has strong robustness.