基于加权变量模糊控制的倒立摆控制系统

Inverted-Pendulum System Study Based on Weight Variable Fuzzy Control

针对多变量、非线性和强耦合的二级倒立摆系统,利用最优控制反馈矩阵,综合考虑小车、下摆、上摆和模糊误差信息,加权模糊控制器输入变量。设计了分别以倒立摆的小车、下摆和上摆为主控制量设计三种加权变量模糊控制器,控制二级倒立摆系统稳定。仿真研究表明,以上摆为主控制量设计的加权变量模糊控制器控制效果最佳,能够得到很好的稳定效果,收敛快、精度高,表明该方法的控制效果是最有效可行的。

The double inverted-pendulum is a multi-variable,nonlinear,unstable system.In order to consider the cart,the lower pendulum and the upper pendulum error information,the weight variable fuzzy inputs is gained by combining the fuzzy control theory with the optimal control feedback matrix theory.Three different fuzzy controller with weight variable are designed for stabilization of the double inverted-pendulum.Simulation results show that the controller,which the upper pendulum is considered as main control variable,has higher accuracy and quicker convergence speed and higher precision.And the method is promising.