X-Z倒立摆的一种饱和非线性稳定控制方法的研究

摘要

X-Z inverted pendulum not only has nonminimum phase and underactuated performance that normal inverted pendulum has, but also has more control freedoms. The equivalence relationship between X-Z inverted pendulum and planar vertical takeoff and landing (PVTOL) aircraft is found through definite states transformation. The saturated nonlinear control method original from the control method of PVTOL aircraft is used to the stabilization control of the X-Z inverted pendulum based on the equivalence relationship between them. The stabilization method is compared with the PID (Proportion integration differentiation) control through simulation. And this proofs the effectiveness of the stabilization method.%X-Z倒立摆不仅具有普通倒立摆的最小相位和欠驱动特性,同时具有更多的控制自由度.通过一定的状态变换,发现了X-Z倒立摆与平面垂直起降飞行器模型之间的等价关系.基于该等价关系,借鉴平面垂直起降飞行器的控制方法,把饱和非线性控制方法应用于X-Z倒立摆的稳定控制.通过与PID (Proportion integration differentiation)控制方法的仿真对比,证明了该稳定控制方法的有效性.