摘要
用牛顿—欧拉方法建立了双倒立摆的动力学方程,并进行了线性处理,得到了状态空间模型;提出一种双闭环选择型模糊控制方案,通过一个选择型开关将2个模糊控制器的工作统一起来.通过实验对模型进行仿真,仿真结果证明:所建模型正确、控制方案有效.
This paper makes a deep study on linear Two-inverted pendulum. Firstly, the Newton-Euler method is used to derive the dynamic equations, and the state space equations are obtained with linearization method. Secondly, the selective double closed-loop fuzzy control scheme is proposed. With the help of the control scheme, a selective switch integrates two fuzzy controllers. Finally, the computer simulation results show the correctness of modeling and the validity of control scheme.
出处
《重庆工学院学报（自然科学版）》
2009年第6期87-89,共3页
Journal of Chongqing Institute of Technology
关键词
双倒立摆
建模
闭环控制
模糊控制
two-inverted pendulum
modeling
closed-loop control
fuzzy control
