基于幂次函数的自平衡双轮电动车分层滑模控制

摘要

Aiming at self-balancing system w hich is a class of inverted pendulum principle ,a new hierarchical sliding-mode con-trol based on power function method is presented .In order to solving discontinuous switching characteristics in the essence of sliding mode control which is the cause of system chattering problem ,a nonlinear motion controller is designed by using power function is selected in switching function in view of its nonlinear characteristics ,meanwhile ,the designed method of sliding-mode surface and control law is also given .The simulation result show that the controller has smaller overshoot and inhibits the chatte-ring phenomenon well and also makes the controlled system achieve excellent dynamic performance ,which proves that this control method is effective .%针对倒立摆原理的自平衡系统，提出一种基于幂次函数法的分层滑模变结构控制方法。为解决滑模控制在本质上的不连续开关特性而引起系统抖振的问题，采用了在切换函数中运用幂次函数的非线性特性来设计非线性控制器，同时与传统的分层滑模控制方法进行了仿真对比。仿真结果表明了该方法的有效性，并且控制器超调量小，很好地抑制了抖振现象，被控系统表现出了良好的动态品质。