摘要
基于现有的两级倒立摆实物,分析得到其动力学模型的状态空间表示,根据系统特点,对该表达式进行适当处理。在系统不同平衡点下,借助Matlab分别求得系统的反馈矩阵,根据模糊控制的插值机理,对这些反馈矩阵实施线性插值,从而得出使系统在大范围内平衡的、动态的反馈矩阵。该矩阵值随系统输入(旋臂和摆杆的角速度)的变化而变化。系统基于MS VC6为控制平台,PC机通过RS-232串行总线对倒立摆实物进行实时控制。实验结果表明,采用该算法,控制效果良好。
The state space expression of Double Inverted Pendulum is analyzed and optimized based on characteristic of the system. The feedback matrices of the different equilibrium points of system is obtained by means of Matlab, from which the dynamic matrix that enables the system being equilibrium in large-scale is derived based on interpolation mechanism of fuzzy control. The matrix is changed along with the system inputs. The model is controlled by computer in real time through RS-232 serial bus based on platform Microsoft Visual C ＋ ＋ 6.0. The experiment shows that the system is of well stability by means of the proposed control method.
出处
《控制工程》
CSCD
2006年第1期25-27,47,共4页
Control Engineering of China
关键词
倒立摆
模糊控制
插值
线性化
inverted pendulum
fuzzy control
interpolation
linearization
