倒立摆滑模及PID控制教学虚拟实验室

2008 11th International Conference on Optimization of Electrical and Electronic Equipment Pub Date : 2008-05-22 DOI:10.1109/OPTIM.2008.4602514

M. Demirtas, Y. Altun, A. Istanbullu

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引用次数: 7

摘要

本文介绍了一种针对本科生和研究生的滑模控制(SMC)和比例-积分-导数(PID)控制教学方法。本教学虚拟实验室工具包含小车上倒立摆的控制。该系统是典型的非线性欠驱动系统。该系统是各种控制理论在控制工程中的应用。首先，得到了倒立摆的非线性动力学方程。在此基础上，设计了基于SMC和PID的虚拟实验室工具。然后对仿真结果进行了分析。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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An educational virtual laboratory for sliding mode and PID control of inverted pendulum

This paper presents a new tool which teaches sliding mode control (SMC) and proportional-integral- derivative (PID) control to undergraduate and graduate students without laboratory. This educational virtual laboratory tool contains the control of inverted pendulum on the cart. This system is typical example of nonlinear and under-actuated systems. This system is also well known in control engineering for practice of various control theories. At first, the nonlinear dynamic equations of the inverted pendulum are obtained. Then a virtual laboratory tool is designed for SMC and PID. After that the simulation results are analyzed.

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2008 11th International Conference on Optimization of Electrical and Electronic Equipment

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