基于Simulink的单级倒立摆仿真对比

An Simulation Study of Single Inverted Pendulum Based on T-S Fuzzy Control Model

为了实现对单级倒立摆非线性不稳定系统的稳定控制,采用极点配置和模糊控制理论中的T-S模糊模型两种方法建立倒立摆系统的状态方程模型,并进行了状态反馈控制器和模糊控制器的设计.通过Simulink对倒立摆系统进行了建模仿真和对系统控制效果的分析,结果表明:这两种模型均解决了非线性系统问题,实现了对单级倒立摆的稳定控制,并且结构简单,稳定性和快速性很好,对于其它非线性不稳定系统的控制提供了一种有效的途径.

State equations models is established to process steady control for non-linear unsteady system of single invert pendulum, which based on pole-placement and T-S fuzzy control model. The state-feedback controller and fuzzy controller were designed. Simulation and analysis were carried out to analyze control effects of the system by Simulink model. Results show that the models realize the steady control and solve the non-linear problem successfully with simple construction,well stability and fast-speed behaviors. Furthermore, an effective ways is proposed to control other non-linear unstable systems.