摘要
针对水平导轨直线型二级倒立摆的稳定控制问题,提出了基于泛组合运算模型的泛逻辑控制方法,并设计实现了其线性二次型最优调节器、拟人智能控制器和模糊控制器。通过对各控制器设计特点和控制效果的比较研究发现,所提出的泛逻辑控制器由于本质上具有的柔性特征,对系统具有较高的控制精度,在控制快速性和稳定性方面表现较好。
For stable control problem of the linear type double inverted pendulum running along a horizontal rail,a universal logic control method based on universal combination operation is proposed.And the linear quadratic optimal regulator,humanoid intelligent controller and fuzzy controller for inverted pendulum are also designed and implemented.It is found by comparing and studying the designing features and control effects of these controllers,the proposed universal logic controller has higher accuracy on controlling the system due to its essential flexible feature,it performs well in aspects of speediness and stability of the control.
出处
《计算机应用与软件》
CSCD
2010年第7期126-129,共4页
Computer Applications and Software
基金
陕西省教育厅专项科研项目(07JK255)
关键词
倒立摆系统
线性二次型最优控制
拟人智能控制
模糊控制
泛逻辑控制
Inverted pendulum system Linear quadratic regulate Humanoid intelligent control Fuzzy control Universal logic control
