摘要
提出一种模糊控制方案,实现对倒立摆系统的平衡控制。针对倒立摆系统多变量的特性,采用双模糊控制器方案,分别对摆杆倾角和小车位移设计模糊控制器,大大降低了设计难度;为了实现对摆角和位移双重控制的功能,采用两个控制器轮流控制的策略,当摆角偏差或角速度值较大时,摆角控制器起作用,保持摆杆的垂直,反之,位移控制器起作用,调整小车位置不越界。在实际的物理设备上进行了实时控制实验,实验结果验证了方案的正确性和有效性。
A fuzzy control scheme is proposed for the purpose of balance control of an inverted pendulum system. Based on the system property of multivariable, two fuzzy controllers are designed, one for the pendulum angle, and the other for the car position. The two controllers take turns to control the system, if the deviation of angle or its rate is large, the angle controller acts to keep the pendulum vertical; else, the position controller acts. A real-time control experiment shows the validity of the control scheme.
出处
《自动化技术与应用》
2007年第7期10-12,共3页
Techniques of Automation and Applications
关键词
倒立摆
多变量系统
模糊控制
inverted pendulum
multivariable system
fuzzy control
