论文部分内容阅读
针对带有未知参数的惯性轮摆系统,提出了一种自适应控制律设计方法。首先利用坐标变换将惯性轮摆系统的动力学模型转化为级联系统的形式。然后,针对系统参数未知的问题,在已有的惯性轮摆系统反馈控制律的基础上,利用控制器迭代设计思想,设计了惯性轮摆系统的自适应控制律,并利用李雅普诺夫稳定性理论证明了所得自适应控制律可以使得带有未知参数的惯性轮摆系统保持在摆杆垂直向上的平衡状态。最后以一个实际的惯性轮摆系统为例,采用该系统的物理参数进行仿真,分析了不同自适应参数下惯性轮摆系统各状态的收敛速度及摆起和稳定时间。仿真结果验证了所设计自适应控制器能够使惯性轮摆系统从垂直向下的平衡位置摆起并稳定在垂直向上的平衡位置。
Aiming at inertial wheel pendulum system with unknown parameters, an adaptive control law design method is proposed. First, coordinate transformation is used to convert the dynamic model of the inertial wheel-pendulum system into a cascade system. Then, based on the existing feedback control law of inertial wheel pendulum system, aiming at the problem of unknown system parameters, an adaptive control law of the inertial wheel pendulum system is designed by using the iterative design idea of the controller. The Lyapunov stability The theory proves that the adaptive control law can keep the inertial wheel pendulum system with unknown parameters in a vertically balanced state of the pendulum. Finally, an actual inertial wheel pendulum system is taken as an example, and the physical parameters of the system are used to simulate the convergence speed, swinging and settling time of each state of the inertial wheel pendulum system with different adaptive parameters. The simulation results show that the adaptive controller can be designed to make the inertial wheel pendulum swing from the vertical equilibrium position to the vertical equilibrium equilibrium position.