Research on control algorithm of a four axis air vehicle-inverted pendulum system

Fanguo KONG; Zhaoxing LI; Jiancun ZHANG; Gang XIONG; R.Nyberg Timo

doi:10.11959/j.issn.2096-6652.201916

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Research on control algorithm of a four axis air vehicle-inverted pendulum system

Regular Papers | 更新时间：2024-06-05

- Research on control algorithm of a four axis air vehicle-inverted pendulum system
- Chinese Journal of Intelligent Science and Technology Vol. 1, Issue 2, Pages: 140-144(2019)
- 作者机构：
  
  1. 五邑大学智能制造学部，广东江门 529020
  2. 中国科学院自动化研究所复杂系统管理与控制国家重点实验室，北京 100190
  3. 阿尔托大学工业工程与管理系，芬兰 FI-00076
- 作者简介：
- 基金信息：
  
  The National Natural Science Foundation of China(61533019)
- DOI：10.11959/j.issn.2096-6652.201916
  CLC： TP273
- Published Online：2019-06，
  
  Published：20 June 2019
- 稿件说明：
移动端阅览
Fanguo KONG, Zhaoxing LI, Jiancun ZHANG, et al. Research on control algorithm of a four axis air vehicle-inverted pendulum system[J]. Chinese journal of intelligent science and technology, 2019, 1(2): 140-144.
DOI：

Fanguo KONG, Zhaoxing LI, Jiancun ZHANG, et al. Research on control algorithm of a four axis air vehicle-inverted pendulum system[J]. Chinese journal of intelligent science and technology, 2019, 1(2): 140-144. DOI： 10.11959/j.issn.2096-6652.201916.

摘要

四轴飞行器控制活动杆件或装水酒杯平衡是一项难度系数极大的任务，所构成的模型称为四轴飞行器—倒立摆不倒平衡控制系统。基于这种特殊形式的倒立摆不倒平衡控制模型，在X-Z平面简化为线性不倒模型进行分析，建立其动力学模型，并结合滑模控制的算法，设计系统的控制器并进行仿真实验。利用滑模控制算法对四轴飞行器—倒立摆不倒平衡控制系统进行控制，实验结果表明，其表现出了优异的不倒稳定性。

Abstract

Controlling the balance of a movable rod or a wine cup filled with water on a four axis air vehicle is a hard job.A system called four axis air vehicle-inverted pendulum balance control system is needed.With this special kind of balance control system and the idea of a simplified model to replace the complex system for analysis

the performance of a linear four axis vehicle-inverted pendulum on X-Z plane was studied

its dynamic and physical formula was also discussed.The simplified model equipped with the control algorithm of sliding mode control was designed and simulated on the computer with the help of MATLAB.The result shows that the control algorithm works well on the four axis air vehicle-inverted pendulum balance control system and the system has a good performance.

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references

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