本文關(guān)鍵詞：基于卡爾曼濾波的旋轉(zhuǎn)倒立擺智能控制算法研究　出處：《重慶理工大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 旋轉(zhuǎn)倒立擺 非線性狀態(tài)估計(jì) 卡爾曼濾波 線性二次型最優(yōu)控制 終端滑�？刂�

【摘要】：基于經(jīng)典、現(xiàn)代及智能控制理論的各種控制策略實(shí)現(xiàn)了倒立擺系統(tǒng)的穩(wěn)擺控制、軌跡跟蹤控制,這些控制算法均需以擺桿的角度和角速度信號作為穩(wěn)定控制的依據(jù),但研究者設(shè)計(jì)控制算法時(shí)多未考慮各種算法實(shí)現(xiàn)過中難免要受系統(tǒng)噪聲、量測噪聲、外界干擾和建模誤差的影響,比如實(shí)時(shí)控制中擺桿的角度信號會受到測量噪音污染,在獲取角速度時(shí)該噪音被放大,導(dǎo)致控制器的輸出有較大的波動,又如電機(jī)執(zhí)行過程中也會混入過程噪音使系統(tǒng)運(yùn)行不穩(wěn)定,故這樣設(shè)計(jì)出的控制器魯棒性差、抗外界擾動能力有限,而將卡爾曼濾波算法與控制算法進(jìn)行組合設(shè)計(jì)應(yīng)用于提升倒立擺系統(tǒng)穩(wěn)定控制器、軌跡跟蹤控制器性能的研究少有人涉及,故本文選擇旋轉(zhuǎn)倒立擺為控制對象,對卡爾曼濾波算法在提升控制器控制性能方面進(jìn)行了下面的研究工作:(1)考慮旋轉(zhuǎn)倒立擺系統(tǒng)實(shí)際運(yùn)行中,會存在機(jī)械磨損、各種摩擦、外界干擾、內(nèi)部干擾等建立了旋轉(zhuǎn)倒立擺非線性動力學(xué)標(biāo)稱模型和線性狀態(tài)空間模型。(2)應(yīng)用LQR控制器對旋轉(zhuǎn)倒立擺線性狀態(tài)空間模型進(jìn)行穩(wěn)定控制,并通過仿真實(shí)驗(yàn)觀察其控制效果,仿真結(jié)果顯示LQR控制器在含有各種噪聲的旋轉(zhuǎn)倒立擺系統(tǒng)應(yīng)用中,難以獲得精確的輸出反饋量實(shí)現(xiàn)對系統(tǒng)的最優(yōu)控制,故引入卡爾曼濾波算法設(shè)計(jì)了狀態(tài)觀測器對LQR控制器進(jìn)行改善,仿真結(jié)果顯示方法有效。(3)考慮到旋轉(zhuǎn)倒立擺的非線性特性,設(shè)計(jì)了基于無跡卡爾曼濾波的LQR控制器,進(jìn)一步提高LQR控制器的控制精度和魯棒性,并設(shè)計(jì)了仿真實(shí)驗(yàn)驗(yàn)證方法的有效性和可行性。(4)針對旋轉(zhuǎn)倒立擺的非線性動力學(xué)標(biāo)稱模型,提出了變增益滑�？刂撇呗赃M(jìn)行穩(wěn)定控制和軌跡跟蹤控制,并通過仿真實(shí)驗(yàn)觀察控制效果。(5)針對變增益滑模控制器仿真出現(xiàn)的問題,提出了基于無跡卡爾曼濾波的非奇異終端滑�？刂撇呗�,并設(shè)計(jì)了仿真實(shí)驗(yàn),仿真結(jié)果驗(yàn)證了方法的有效性和優(yōu)越性。
[Abstract]:Based on the classical, modern and intelligent control theory, various control strategies are used to realize the stability control and trajectory tracking control of inverted pendulum system. These control algorithms need to take the angle and angular velocity signal of pendulum rod as the basis of stable control, but the researchers design the control algorithm without considering the system noise and measurement noise in the realization of all kinds of algorithms. The external interference and modeling error, such as the angle signal of the pendulum rod in real-time control, will be polluted by measurement noise, and the noise will be amplified when the angular velocity is obtained, resulting in a large fluctuation of the output of the controller. For example, the noise will also be mixed in the process of the motor to make the system run unstable, so the controller designed in this way has poor robustness and limited ability to resist external disturbances. The combination of Kalman filter algorithm and control algorithm is applied to improve the stability controller of inverted pendulum system. The research of trajectory tracking controller is seldom involved, so this paper chooses the rotating inverted pendulum as the control object. The following research work is done on the Kalman filter algorithm to improve the control performance of the controller. (1) considering the actual operation of the rotating inverted pendulum system, there will be mechanical wear, various kinds of friction and external interference. The nonlinear dynamic nominal model and linear state space model of rotating inverted pendulum are established. The linear state space model of rotating inverted pendulum is controlled by LQR controller. The simulation results show that the LQR controller is difficult to obtain accurate output feedback in the application of rotating inverted pendulum system with various noises to achieve the optimal control of the system. Therefore, the Kalman filter algorithm is introduced to design the state observer to improve the LQR controller. The simulation results show that the method is effective and takes into account the nonlinear characteristics of the rotating inverted pendulum. The LQR controller based on unscented Kalman filter is designed to further improve the control accuracy and robustness of the LQR controller. Finally, the effectiveness and feasibility of the simulation experiment are designed. (4) aiming at the nonlinear dynamic nominal model of the inverted pendulum, a variable gain sliding mode control strategy is proposed for stability control and trajectory tracking control. And through the simulation experiment observation control effect. 5) aiming at the problem of variable gain sliding mode controller simulation, a non-singular terminal sliding mode control strategy based on unscented Kalman filter is proposed, and the simulation experiment is designed. Simulation results show the effectiveness and superiority of the method.
【學(xué)位授予單位】：重慶理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TN713;TP273

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