直线一级倒立摆模糊控制器的设计

Design of fuzzy controller for an linear inverted pendulum

倒立摆系统以其自身的不稳定性而难以控制,也因此成为自动控制实验中验证控制策略优劣的极好的实验装置.本文针对直线一级倒立摆系统的平衡控制问题。应用牛顿力学方法对其进行数学建模,对系统进行了能控性分析.应用模糊控制理论设计了控制器,仿真及时控结果表明,模糊控制方法对于典型非线性自不稳定系统有着很好的控制能力.

Inverted pendulum system is difficult to control because of its instability.It becomes the wonderful experiment device to verify how about the control strategy in automatic control experiment.In view of equilibrium control question of the one inverted pendulum,we uses Newton s mechanics equation to derive the mathematical model of the pendulum in detail.Then,the paper analyzes controllability,the inverted pendulum is modeled and the Controller is designed by using fuzzy control theory.The simulating and rea...