二级倒立摆是一个高度非线性系统,具有强耦合和快速性的特点,必须采用有效的非线性系统的控制方法才可使其稳定在平衡位置。随着智能控制的发展,大多数研究人员和学者将变结构在倒立摆控制系统中的应用,作了大量的理论研究以及仿真实验,为实际应用作了铺垫。但是仿真实验在实际应用过程存在着较强的限制性,其表现为控制器结构越复杂,仿真结果与实际应用结果的差距越大,在实际应用过程中由于各种干扰因素较多且环境条件复杂,有的控制策略甚至无法实现预期的实时控制效果。本文在对直线二级倒立摆进行模型分析建立基础上,通过常规滑模控制理论,设计了常值和比例2种非线性控制器,采用MATLAB仿真平台分别对这2种控制器算法进行了仿真研究,并进一步指出了这2种控制策略在倒立摆控制系统中实际应用过程实施的可行性。研究结果表明,2种控制器仿真均能实现对二级倒立摆的控制,但常值切换控制仿真结果具有强烈的抖振,该策略在实时控制中会对设备造成较大的损害,不宜选择;比例切换控制具有良好的削弱抖振能力,在实时控制中可以选择。 Two-stage inverted pendulum is a highly nonlinear system, with strong coupling and rapidity characteristics, we must use an effective non-linear system control method to make it stable in a balanced position. With the development of intelligent control, most researchers and scholars have made a lot of theoretical researches and simulation experiments for the application of variable structure in inverted pendulum control system, which has paved the way for practical application. However, there is a strong limitation in the practical application of simulation experiments. The more complex the controller structure is, the bigger the difference between the simulation results and the actual application results is. In the actual application process, due to various interference factors and environmental conditions Complex, some control strategies can not even achieve the desired real-time control effect. Based on the model analysis of the linear two-stage inverted pendulum, two kinds of nonlinear controllers of constant value and ratio are designed by using the conventional sliding mode control theory. The MATLAB simulation platform is used to simulate the two kinds of controller algorithms respectively. Research and further pointed out the feasibility of implementing these two kinds of control strategies in practical application of inverted pendulum control system. The results show that both controllers can achieve the control of the two-stage inverted pendulum, but the simulation result of constant-value switching control has strong chattering. This strategy will cause great damage to the equipment in real-time control and should not be selected ; Ratio switching control has a good ability to weaken the buffeting, in real-time control can choose.