平面一级倒立摆的双闭环模糊控制研究

Study of Double Closed-loop Fuzzy Control on Planar Inverted Pendulum

针对多变量、非线性的平面倒立摆系统,设计了双闭环模糊控制.在该方法中,先将平面一级倒立摆系统进行近似分解成两个非耦合的独立运动,然后设计两个模糊控制器对两个独立运动分别进行控制,降低了系统设计的难度和复杂度.最后,用模糊逻辑推理和SIMULINK仿真程序,对所设计的方案进行了仿真,仿真结果表明了方案的正确性和有效性.

The double closed-loop fuzzy control is designed for the multi-variable and nonlinear planar inverted pendulum. In this approach,the planar inverted pendulum system is decomposed approximately into two non-coupling independence movements,and then two fuzzy controllers are designed to control respectively two separate movements, reducing the difficulty and complexity of the system design. Finally, the fuzzy logic reasoning and SIMUI.INK simulation program are used to verify the control scheme. The simulation results show the correctness and validity of the control scheme.