| 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： | 孙泓,屈胜利,刘学超,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].机床与液压,2008,36(3):144-146. |
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| 作者姓名： | 孙泓 屈胜利 刘学超 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,西安,710071 |
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| 摘 要： | 从控制作用U空间分解的角度提出了一种全新的理论,使变结构控制设计中保持系统的鲁棒性与消除抖振得到了统一.并将此理论应用于两轮自平衡小车.仿真表明:带扰动补偿的变结构控制器解决了变结构控制理论的抖振缺陷的同时实现了系统对扰动的不变性.
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| 关 键 词： | 变结构控制 状态空间 滑动模态 |
| 文章编号： | 1001-3881（2008）3-144-3 |
| 收稿时间： | 2007-04-13 |
| 修稿时间： | 2007年4月13日 |
The Design and Improvement of the Variable Structure Controllers for a Two-wheeled Unstable Vehicle |
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| SUN Hong,QU Shengli,LIU Xuechao,LI Weike.The Design and Improvement of the Variable Structure Controllers for a Two-wheeled Unstable Vehicle[J].Machine Tool & Hydraulics,2008,36(3):144-146. |
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| Authors: | SUN Hong QU Shengli LIU Xuechao LI Weike |
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| Abstract: | Traditional VSC controller design methods eliminate vibrations at the expense of the robustness of the system. Based on space resolution of control-U, a new way was presented to conform the two factors and the theory was applied to the two-wheel and self-adapted car. Simulation result shows that VSC controller with vibration compensation eliminates vibration while maintains system invariability. |
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| Keywords: | Variable structure control State space Sliding mode |
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