智能科学与技术学报 ›› 2019, Vol. 1 ›› Issue (2): 140-144.doi: 10.11959/j.issn.2096-6652.201916

• 常规论文 • 上一篇    下一篇

四轴飞行器—倒立摆系统的控制算法研究

孔凡国1(),李肇星1,张健存1,熊刚2,TimoR.Nyberg3   

  1. 1 五邑大学智能制造学部,广东 江门 529020
    2 中国科学院自动化研究所 复杂系统管理与控制国家重点实验室,北京 100190
    3 阿尔托大学工业工程与管理系,芬兰 FI-00076
  • 修回日期:2019-05-20 出版日期:2019-06-20 发布日期:2019-09-09
  • 作者简介:孔凡国(1966- ),男,江西九江人,博士,教授,五邑大学智能制造学部硕士生导师,主要研究方向为人工智能、数字化设计制造、机电控制、制造业信息化、复杂工程系统等。|李肇星(1995- ),女,五邑大学智能制造学部在读研究生,主要研究方向为智能制造、机电一体化。|张健存(1986- ),男,五邑大学智能制造学部在读研究生,主要研究方向为智能制造、机电一体化。|熊刚(1969- ),男,中国科学院自动化研究所复杂系统管理与控制国家重点实验室研究员,主要研究方向为复杂系统平行控制、智能制造、智能交通。|Timo R. Nyberg(1959- ),男,阿尔托大学理学院高级研究员,EIT Digital (European Institute of Innovation and Technology) Summer Schools 负责人,主要研究方向为自动化、企业管理等。
  • 基金资助:
    国家自然科学基金资助项目(61773381);国家自然科学基金资助项目(61773382);国家自然科学基金资助项目(61533019);广东省科技厅基金资助项目(2016B090910001);广东省科技厅基金资助项目(2017B090912001);广东省自然科学基金资助项目(6029824)

Research on control algorithm of a four axis air vehicle-inverted pendulum system

Fanguo KONG1(),Zhaoxing LI1,Jiancun ZHANG1,Gang XIONG2,R.Nyberg Timo3   

  1. 1 Faculty of Intelligent Manufacturing,Wuyi University,Jiangmen 529020,China
    2 The State Key Laboratory for Management and Control of Complex Systems,Institute of Automation,Chinese Academy of Sciences,Beijing 100190,China
    3 Department of Industrial Engineering and Management,Aalto University,FI-00076,Finland
  • Revised:2019-05-20 Online:2019-06-20 Published:2019-09-09
  • Supported by:
    The National Natural Science Foundation of China(61773381);The National Natural Science Foundation of China(61773382);The National Natural Science Foundation of China(61533019);Science and Technology Project of Guangdong(2016B090910001);Science and Technology Project of Guangdong(2017B090912001);Dongguan Innovative Leading Talents Project ,The Natural Science Foundation of Guangdong(6029824)

摘要:

四轴飞行器控制活动杆件或装水酒杯平衡是一项难度系数极大的任务,所构成的模型称为四轴飞行器—倒立摆不倒平衡控制系统。基于这种特殊形式的倒立摆不倒平衡控制模型,在X-Z平面简化为线性不倒模型进行分析,建立其动力学模型,并结合滑模控制的算法,设计系统的控制器并进行仿真实验。利用滑模控制算法对四轴飞行器—倒立摆不倒平衡控制系统进行控制,实验结果表明,其表现出了优异的不倒稳定性。

关键词: 四轴飞行器, 倒立摆, 滑模控制, 仿真实验

Abstract:

Controlling the balance of a movable rod or a wine cup filled with water on a four axis air vehicle is a hard job.A system called four axis air vehicle-inverted pendulum balance control system is needed.With this special kind of balance control system and the idea of a simplified model to replace the complex system for analysis,the performance of a linear four axis vehicle-inverted pendulum on X-Z plane was studied,its dynamic and physical formula was also discussed.The simplified model equipped with the control algorithm of sliding mode control was designed and simulated on the computer with the help of MATLAB.The result shows that the control algorithm works well on the four axis air vehicle-inverted pendulum balance control system and the system has a good performance.

Key words: four axis air vehicle, inverted pendulum, sliding mode control, simulation experiment

中图分类号: 

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