基于参数自适应模糊PI的三级倒立摆控制

Control for Triple Inverted Pendulum Based on Parameter Adaptive Fuzzy PI

三级倒立摆作为高阶次、多变量、非线性、强耦合的不稳定系统,不易对其进行有效控制。在基本模糊控制器基础上,设计了一种参数自适应模糊PI控制器。即通过LQR(Linear Quadratic Regulator)最优控制理论方法,确定出融合函数,降低了模糊控制器的输入维数,减少了控制器规则数。经过参数修正模糊控制器,实现参数自适应调整,提高了系统控制性能。通过SIMULINK仿真及对比,结果显示,系统能在较短时间内达到稳定,控制效果、稳定性及鲁棒性均较好,能满足系统要求。

Triple inverted pendulum is a high-order, multivariable, nonlinear and strong coupling unstable system, so it is not easy to control it effectively. This paper designs a parameter adaptive fuzzy PI controller based on the basic fuzzy controller. Through LQR （Linear Quadratic Regulator） optimal control theory methods to determine the fusion function, the input dimension and the rule number of fuzzy controller is reduced. Then through the parameter correction fuzzy controller, the parameter adaptive adjustment is achieved and the control performance of the system gets improved. The SIMULINK simulation and comparison results show that the system can achieve stability in a relatively short period of time, and the control effectiveness, stability and robustness are better, which meets the system requirement.