| 两轮不稳定小车系统中变结构控制器的设计及改进 |
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| 引用本文： | 刘学超,屈胜利,孙弘,栗维克.两轮不稳定小车系统中变结构控制器的设计及改进[J].中国科技信息,2007(15):76-78. |
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| 作者姓名： | 刘学超 屈胜利 孙弘 栗维克 |
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| 作者单位： | 西安电子科技大学机电工程学院,710071 |
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| 摘 要： | 本文将变结构控制应用于具有非线性及强扰动性的两轮不稳定小车系统。在给定系统的硬件结构及数学模型的基础上,设计出基于等速趋近律,指数趋近率和准滑动模态的变结构控制器。通过三种控制器与零极点控制器仿真结果的比较,得出控制器改进的有效合理性,以及变结构控制器对外界干扰和系统参数变化的不敏感性的优点。
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| 关 键 词： | 不稳定体 变结构 扰动 准滑动模态 抖振 |
THE DESIGN AND IMPROVEMENT OF THE VARIABLE STRUCTURE CONTROLLERS FOR A TWO-WHEELED UNSTABLE VEHICLE |
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| Liu Xuechao,Qu Shengli,Sun Hong,Li Weike.THE DESIGN AND IMPROVEMENT OF THE VARIABLE STRUCTURE CONTROLLERS FOR A TWO-WHEELED UNSTABLE VEHICLE[J].CHINA SCIENCE AND TECHNOLOGY INFORMATION,2007(15):76-78. |
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| Authors: | Liu Xuechao Qu Shengli Sun Hong Li Weike |
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| Abstract: | This paper applies VSC to the nonlinear highly vibration two-wheeled unstable vehicle system, and presents its hardware architecture and mathematic modeling. Based on variable structure control, three variable structure controllers are designed with a basic control law. Compared with the simulation results of the Pole-zero controller, we find out that the improved controller is effective and the sliding mode controller is insensitive to the outer disturbance and change of the system factors. |
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| Keywords: | unstables ystem VSC disturbance norm sliding mode vibration |
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