Study On Variable Structure Control Of A Seesaw System

In the rencent years ,the controller of natural unstable system had gradually been applied in industry ,agriculture and national defence etc .But this type of system commonly had the characteristics of serious nonlinear ,hard to got parameters ,disturbance sensitive ,complicated model etc ,which would be serious challenge for controller .There were not good theories for this type of system at present. In the past research ,inverted pendulum has been used as a tester .In our research we had found the seesaw model ,which has a more complicated and more practicable model .There were few researches on it .We expect that based on the experiment on seesaw ,some practicable result could be got .The seesaw system was an entire control system .At first we set up the model of seesaw with the use of Lagrange function and linearize it .Then in allusion to this system we designed and created an identification system ,and did experiment on a servo system ,which would be helpful to identifying the seesaw system .With a view to that not all the states could be measured ,an observer was designed .At the end ,we designed two controller ,pole placement and VSC ,and did simulation to compare the performance ,find and solve the possible problem .We also analysised and made the corresponding countermeasure for the disturbance on system and the vibra of VSC. The result of the comparison showed that the VSC had the advantage over other controller when used on this type of system.The real system had been constructed yet and all modules debugged.