The two-wheel mobile inverted pendulum vehicle is a system of multi-variable, non-linear and strong coupling.The control issues for this type of system is one of the main topics of modern control theory. In recent years,sliding mode control receives wide attention because of its Simplicity,quick response,robustness and easy realization.First,electromechanical and sensor systems are described for two inverted pendulum car in this paper,mainly Illustrates the structure of the two inverted pendulum car,The inclinometers (to measure the pendulum angle deviates from the vertical axis,Gyroscope (to measure wheel rotation angular velocity),Photoelectric encoder (to measure displacement and velocity of the car),A power supply circuit, the central controller, the wireless transmission module,Motor drive and filter shaping module,software system in the two inverted pendulum car are described SubsequentlyFor the software part,This article focused on two mobile inverted pendulum car, presented several improved sliding mode control algorithm, The main researches are as follows:(1)Because the boundary layer method of Traditional sliding mode control algorithm restrains buffeting has steady-state error,a tracking error of the integral term is added to the traditional sliding mode surface and this is the traditional integration sliding mode controller.Although the introduction of the integral term can reduce the steady-state error and offset the uncertainty of model,in a large initial error condition,Large overshoot and long regulation time will cause deterioration of system transient performance, Integral windup effect may even occured and it will lead to instability of the whole system,meanwhile in order to overcome the shortcomings that the traditional sliding mode control does not have the robustness in the reaching phase,the thesis designs the nonlinear replacement integral sliding mode controller at the limited initial state.(2)Because a nonlinear function is introduced in the design of the sliding hyperplane,This Terminal sliding surface can make the tracking error in the sliding surface converge to zero within a finite time,Also we can make the initial state of nonlinear systems in the sliding surface,eliminate the need for reaching stage.Then because the general Terminal sliding surface exists singular points,We selecte non-singular Terminal sliding surface,Finally the design methods of control law is given in this paper. |