外文翻譯--倒立擺原稿-免費(fèi)閱讀
【正文】 這個(gè)學(xué)習(xí)的目的是 穩(wěn)定倒立擺這樣小車的位置在軌道上被控制得快速和準(zhǔn)確以使擺在這一裝置下始終垂直在它的倒立位置。這個(gè)報(bào)道MATLAB 文件收藏 是由少量的控制系統(tǒng)分析的實(shí)際任務(wù)而發(fā)展的，設(shè)計(jì)和發(fā)展實(shí)際問題。 We will provide the reader with a thorough grounding in the sliding mode control area and as such is appropriate for the graduate with a basic knowledge of classical control theory and some knowledge of statespace methods. From this basis, more advanced theoretical results are developed. Resulting design procedures are emphasized using Matlab files. Fully worked design examples are an additional tutorial feature. Industrial case studies, which present the results of sliding mode controller implementations, are used to illustrate the successful practical application of the theory. 我們將提供讀者一個(gè)徹底的滑模控制領(lǐng)域的基礎(chǔ)并且適合大學(xué)生使用的經(jīng)典控制理論和一寫狀態(tài)空間方 法的知識(shí)的基礎(chǔ)知識(shí)。 In sliding mode control, the VSCS is designed to drive and then constrain the system state to lie within a neighborhood of the switching function. There are two main advantages to this approach. Firstly, the dynamic behavior of the system may be tailored by the particular choice of switching function. Secondly, the closedloop response bees totally insensitive to a particular class of uncertainty. The latter invariance property clearly makes the methodology an appropriate candidate for robust control. In addition, the ability to specify performance directly makes sliding mode control attractive from the design perspective. 在滑模控制中， VSCS 被設(shè)計(jì)成操作并強(qiáng)迫系統(tǒng)狀態(tài)位于鄰近的開關(guān)方程中。 Sliding mode control is a particular type of Variable Structure Control System (VSCS). A VSCS is characterized by a suite of feedback control laws and a decision rule. The decision rule, termed the switching function, has as its input some measure of the current system behavior and produces as an output the particular feedback controller which should be used at that instant in time. A variable structure system,which may be regarded as a bination of subsystems where each subsystem has a fixed control structure and is valid for specified regions of system behavior, results. One of the advantages of introducing this additional plexity into the system is the ability to bine useful properties of each of the posite structures of the system. Furthermore, the system may be designed to possess new properties not present in any of the posite structures alone. Utilization of these natural ideas began in the Soviet Union in the late 195039。隨后我們將展示如何為系統(tǒng)設(shè)計(jì)一個(gè)模糊控制裝 置。我們提出線形逆模糊化算法它能這個(gè)區(qū)域勸導(dǎo)仿射結(jié)構(gòu)和產(chǎn)生一個(gè)塊仿射控制 器。最終控制器的非線性性質(zhì)來源于各級(jí) 模糊控制的控制器，顯著地逆模糊化方法（諸如中心區(qū)）。為 了在繼電器控制中獲得濾波中斷滑模控制器的方案已經(jīng)被提出了。此外，我們可以特意使用一個(gè)簡(jiǎn)化的模型。這些任務(wù)如何活動(dòng)的方法（舉例來說激活命令）被稱作任務(wù)的時(shí)序安排。 What is it used for?Just like the broomstick, an Inverted Pendulum is an inherently unstable system. Force must be properly applied to keep the system intact. To achieve this, proper control theory is required. The Inverted Pendulum is essential in the evaluating and paring of various control theories. 倒立擺是干什么的？就好象掃帚柄，一個(gè)倒立擺是一個(gè) 天生的不穩(wěn)定系統(tǒng)。free39。一個(gè)倒立擺在本質(zhì)上就是做相同的事情。小車是由一個(gè)馬達(dá)控制的，它可以運(yùn) 用于一個(gè)變力。reconstruct39。盡管它是仿真和實(shí)驗(yàn)來顯示不同控制器的性能（舉例來說 PID 控制器，狀態(tài)空間控制器，模糊控制器）。 Prescribed trajectory tracking with certain accuracy is a main task of robotic control. The control is often based on a mathematical model of the system. This model is never an exact representation of reality, since modeling errors are inevitable. Moreover, one can use a simplified model on purpose. In this paper, the structured and unstructured uncertainties are of primary interest, ., the modeling error
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