摘要
单级倒立摆系统是一种广泛应用的物理模型,为了研究其特性,应用拉格朗日方程建立了其精确数学模型,建模中考虑了摩擦力。同时为解决模糊多变量控制中的"维数灾"问题,利用单输入规则动态加权推理模糊控制器(SIRM s)实现了单级倒立摆系统的控制,SIRM s将多维模糊控制问题化简成单维模糊控制问题来解决,大大减少了模糊规则数。利用随机优化搜索法优化了控制参数,其中,所建立的动态参数权重使得摆杆角度控制优先于小车位移控制,故倒立摆不会因为同时控制角度与小车位移而失去稳定性。利用V issim对基于SIRM s模糊控制器的倒立摆系统进行了仿真实验,结果表明该方法能够较好地完成倒立摆的运动控制,系统跟踪速度快,超调量小,具有很强的鲁棒性和更好的动静态特性,验证了模型和控制算法的有效性。
In order to study the characteristics of the single inverted pendulum,the accurate mathematical model is built based on the Lagrange equation and considering the friction existed.To overcome the＂ curse of dimensionality＂ problem in the fuzzy multi-variable control,the single input rule modules（SIRMs） connected fuzzy inference model is presented.The number of fuzzy rules is greatly decreased by transforming multi-dimension fuzzy control into single-dimension fuzzy control in SIRMs.The random optimization search method is used to tune the control parameters.The dynamic importance degrees are built such that the angular control of the pendulum takes priority over the position control of the cart.Therefore the pendulum does not lose its stability in controlling the angular and position at the same time.The simulation experiments based on the SIRMs are carried out on Vissim platform.The simulation results show that the proposed method can control the inverted pendulum with the high track speed and small overshoot.The pendulum and cart position can quickly be stabilized with strong robustness.It shows the effectiveness of the proposed model and control algorithm.
出处
《控制工程》
CSCD
北大核心
2010年第6期769-773,共5页
Control Engineering of China
基金
西南石油大学"中青年骨干教师计划"(XSGGJS039)
西南石油大学校级科技资金资助项目(2007XJY104)
