Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Improved active-disturbance-rejection control method of inverted pendulum system based on self fuzziness regulation in phase plane

A technology of active disturbance rejection control and inverted pendulum, which can be applied in adaptive control, control/regulation system, general control system, etc., and can solve problems such as large influence on control performance

Active Publication Date: 2019-06-07
XIANGTAN UNIV
View PDF2 Cites 8 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The problem solved by the technology of the present invention is: when the initial value of the state of the system differs greatly from that of the extended state observer, there is a differential peak phenomenon in the extended state observer, and the parameter setting of the state error feedback control law has a great influence on the control performance question

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Improved active-disturbance-rejection control method of inverted pendulum system based on self fuzziness regulation in phase plane
  • Improved active-disturbance-rejection control method of inverted pendulum system based on self fuzziness regulation in phase plane
  • Improved active-disturbance-rejection control method of inverted pendulum system based on self fuzziness regulation in phase plane

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0049] The present invention will be further described below in conjunction with the accompanying drawings.

[0050] Such as figure 1 Shown, the concrete realization steps of the present invention are as follows:

[0051] 1) Assuming that the swing angle and swing speed are small, the mathematical model of the inverted pendulum system can be simplified as:

[0052]

[0053] in, is the quality of the trolley, is the mass of the pendulum, is the position of the trolley, is the pendulum angle, For the pendulum swing length, for the amount of control, is the moment of inertia of the pendulum around its center of mass.

[0054] take swing angle , swing speed , car position , trolley speed As a control index, transform the motion equation of the inverted pendulum into the form of the state equation, so that , then the above system equation of motion can be transformed into the following equation of state:

[0055]

[0056] in,

[0057] , with ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention relates to an improved active-disturbance-rejection control method of an inverted pendulum system based on self fuzziness regulation in the phase plane. A hyperbolic tangent nonlinear function is used to construct an improved expansion state observer of a tracking differentiator and a third-order time varying parameter for the inverted pendulum system, and the observer is used to arrange a transition process, inhibit an initial differential peak value, and estimate the system state and internal and external total disturbance; and parameter fuzziness of a state error feedback controller is self-regulated in real time via a phase plane trajectory characteristic rule. The method has the advantages including high anti-interference capability and high control precision, and can beused for high-precision control of the interference-contained and unknown nonlinear system.

Description

technical field [0001] The invention relates to an improved active disturbance rejection control method for an inverted pendulum system based on phase plane fuzzy self-adjustment, which belongs to the field of control science and control engineering. Background technique [0002] On the basis of the nonlinear PID control method, the active disturbance rejection control technology for uncertain systems proposed by Han Jingqing is a new nonlinear control technology based on the extended state observer, which is mainly composed of three parts: tracking differentiator, extended state Observer and state error feedback control. It maintains the advantages of PID control without precise models, has strong anti-interference ability, and has been applied in many fields. For example, for the inverted pendulum system, a kind of active disturbance rejection decoupling control method is proposed, and for a special underactuated, non-feedback linearized mechanical reverse pendulum system...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 刘伟黄辉先陈思溢
Owner XIANGTAN UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com