四轴飞行器—倒立摆系统的控制算法研究

doi:10.11959/j.issn.2096-6652.201916

Chinese Journal of Intelligent Science and Technology ›› 2019, Vol. 1 ›› Issue (2): 140-144.doi: 10.11959/j.issn.2096-6652.201916

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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 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)

Abstract

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

CLC Number:

TP273

Fanguo KONG, Zhaoxing LI, Jiancun ZHANG, et al. Research on control algorithm of a four axis air vehicle-inverted pendulum system[J]. Chinese Journal of Intelligent Science and Technology, 2019, 1(2): 140-144.

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References 10

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符号	参数含义
M	摆杆支座质量
m	摆杆质量
l	摆杆转动中心到其质心的距离
θ	摆杆的转角
x、z	平台沿x和z方向的位移
g	重力加速度

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

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