摘要
本文基于模糊控制理论研究了二级倒立摆的控制问题。二级倒立摆为多变量系统,为了解决模糊控制器规则组合爆炸问题,采用LQR控制方法设计了融合函数以降低模糊控制器的输入变量维数,大大减少模糊控制的规则数,并研究了量化因子对控制效果的影响,通过设置阈值使量化因子可自动调节,进而提高模糊控制器的性能品质。仿真结果证明这种模糊控制算法规则数少,响应速度快,有良好的稳定性和鲁棒性。
The fuzzy control theory is introduced to study the controlling problem of the double inverted pendulum in this paper. In order to solve the fuzzy rule number＇sexplosion in multi-variable system,the dimensions of input varieties of a fuzzy controller are depressed by designing a fusion function using the LQR theory,and it can reduce the rules of fuzzy greatly. The infection of quantification factors to the effect of control is studied. The quality of the fuzzy controller is improved by adding auto turning quantification factors. Simulation prove that this fuzzy control arithmetic has the advantages of few rules,fast speed,good stability and good robustness.
出处
《数字技术与应用》
2010年第9期146-148,共3页
Digital Technology & Application
关键词
二级倒立摆
LQR
模糊控制
融合函数
量化因子
Double inverted pendulum
LQR
Fuzzy control
fusion function
quantification factors
