直线二级倒立摆模糊算法的应用研究

Study on the Fuzzy Control for a Double linear Inverted Pendulum

针对我校智能控制实验室二级倒立摆控制规律单一的现状,对二级倒立摆控制规律进行二次开发。根据二级倒立摆多变量、非线性、强耦合、绝对不稳定的特性。本文采用两种模糊算法来实现二级倒立摆的仿真研究与实时控制。首先,提出了模糊最优控制算法,采用融合函数来解决因多变量的存在而产生的"规则爆炸问题";其次,提出了分层模糊控制的思想,使系统更符合人类的思维逻辑,更容易控制。

In view of the present situation of our intelligent control laboratory of the double linear inverted pendulum control is singleness, and double linear inverted pendulum control is developed. The double linear inverted pendulum has the characteristics of multivariable, nonlinear, strong coupling, absolute instability. The simulation study and real time control of two kinds of fuzzy algorithm to realize the double linear inverted pendulum. Firstly, the fuzzy optimal control algorithm is put forward the fusion function is employed to solve the problem of ＂rule explosion problem caused by the presence of multiple variable＂; Secondly, the hierarchical fuzzy control idea is put forward to make the system more in line with the logic of the human thinking, and causes easier to control.