| 引用本文: | 张文军,平兆武,黄云志,葛锁良,卢俊国.基于离散时间输出调节方法的二级倒立摆跟踪控制[J].控制理论与应用,2026,43(3):684~690.[点击复制] |
| ZHANG Wen-jun,PING Zhao-wu,HUANG Yun-zhi,GE Suo-liang,LU Jun-guo.Tracking control of double inverted pendulum based on discrete-time output regulation method[J].Control Theory & Applications,2026,43(3):684~690.[点击复制] |
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| 基于离散时间输出调节方法的二级倒立摆跟踪控制 |
| Tracking control of double inverted pendulum based on discrete-time output regulation method |
| 摘要点击 491 全文点击 81 投稿时间：2023-08-15 修订日期：2025-10-08 |
| 查看全文 查看/发表评论 下载PDF阅读器 HTML |
| DOI编号 10.7641/CTA.2024.30555 |
| 2026,43(3):684-690 |
| 中文关键词 二级倒立摆 跟踪控制 输出调节 摩擦补偿 欠驱动机械系统 |
| 英文关键词 double inverted pendulum tracking control output regulation friction compensation underactuated me chanical system |
| 基金项目 国家自然科学基金项目(62273127,62073217),中央高校基本科研业务费项目(JZ2025HGTG0293),安徽省重点研发计划项目(2022a05020025)资 助. |
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| 中文摘要 |
| 二级倒立摆是一种典型的多变量、非线性、欠驱动机械系统.同时,小车和导轨之间存在时变的摩擦力.因
此, 二级倒立摆的高精度跟踪控制问题具有一定的挑战性.为了解决时变参考信号下二级倒立摆的跟踪控制问题,
本文基于近似离散时间输出调节理论提出了一种带有自适应摩擦补偿的三阶控制器.首先,采用基于近似离散时
间输出调节理论的多项式近似方法,设计了一个三阶控制器来实现无摩擦情况下二级倒立摆的跟踪控制;其次,考
虑到小车与导轨之间存在的摩擦力会影响系统的跟踪性能,本文设计了一个自适应摩擦补偿器,并将其与三阶控制
器相结合,形成最后的控制方案.实验结果表明,本文所提出的控制算法具有良好的跟踪性能. |
| 英文摘要 |
| Double inverted pendulum is a typical multivariable nonlinear underactuated mechanical system. Meanwhile,
time-varying friction force exists between the cart and rail. Thus the high precision tracking control problem of double
inverted pendulum is quite challenging. In this paper, based on approximate discrete-time output regulation theory, a third
order controller combined with adaptive friction compensation is proposed to solve the tracking control problem of double
inverted pendulum with time-varying reference signal. Firstly, a polynomial approximation method based on approximate
discrete-time output regulation theory is adopted to design a third-order controller to realize the tracking control of the
double inverted pendulum without friction. Then, considering that the friction force between the cart and rail will affect the
tracking performance, in this paper, an adaptive friction compensator is designed and then combined with the third-order
controller to synthesize the final control scheme. Finally, the experimental results show that the proposed control algorithm
can lead to satisfactory tracking performance. |
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