摘要
采用模糊控制理论研究了直线一级倒立摆控制问题。直线一级倒立摆系统是多变量不稳系统,为了解决模糊规则爆炸问题,本文采用了变量分组的方法完成倒立摆模糊控制器的设计方案。要使直线一级倒立摆系统稳定,必须对小车位置和摆杆角度同时进行闭环控制,而单一的控制只能控制一个控制量,本文提出了两回路的模糊控制方案。仿真和实验结果证明了该方案的可行性和良好的控制性能。
The fuzzy control theory is introduced to study the controlling problem of the 1-Stage inverted pendulum.The 1-stage inverted pendulum system is more variable and unstable system.In order to solve the fuzzy rule number＇sexplosion in multi-variable system,in this paper using a variable grouping fuzzy control completes inverted pendulum＇s fuzzy controller design.To make 1-stage inverted pendulum system is stable,it is necessary to car＇s position and swinging rod Angle simultaneously proceed closed-loop control. While a single control can control a control volume,this paper puts forward two circuits＇ fuzzy control scheme.Simulation experiment and the real-time experiment result show the feasibility and good control performance of the methods.
出处
《微计算机信息》
2012年第2期32-34,共3页
Control & Automation
关键词
倒立摆
模糊控制
变量分组
两回路
inverted pendulum
fuzzy controller
variable grouping
two loop
