一级倒立摆SIRMs动态权重模糊推理算法仿真

Simulation of SIRMs dynamical weight fuzzy inference algorithm in level one inverted pendulum

为解决倒立摆采用常规模糊控制算法,其推理规则数目随输入变量成指数增长的问题,对直线一级倒立摆设计了基于SIRMs和动态连接权重模型的模糊控制器,该控制器将倒立摆的四输入变量的模糊控制化成单维模糊控制问题来解决,大大减少了模糊规则数。仿真结果表明,该控制算法能够较好地完成倒立摆的运动控制,具有很强的鲁棒性和动静态特性。

To solve the problem that the number of inference rules increases exponentially with the input variables in the classic fuzzy control algorithm for the inverted pendulum, a fuzzy controller is designed for the linear-primary inverted pendulum, based on SIRMs and linear weighting models. The four input variables of the fuzzy controller are simplified to the one-dimensional one, so the number of fuzzy rules are reduced greatly. Simulation result： indicates that the fuzzy control algorithm can meet the needs of the motion control of inverted pendulum, and is with strong robustness and dynamic- static performances.