摘要
建立一个二阶倒立摆的数学模型,将常规比例-积分-微分(PID)控制与模糊控制相结合,设计模糊PID控制器,实现PID参数的自适应模糊整定.仿真实验表明:所设计的模糊PID控制器能很好地实现二阶倒立摆的扶起平衡控制,控制效果明显好于常规PID控制器,超调量和调节时间较小,具有较好的抗干扰能力,非常适合二阶倒立摆模型的稳定控制.
In this paper, a mathematical model of second-order inverted pendulumis built. The conventional proportional -integral-differential （PID） control and fuzzy controlare combined, and a fuzzy PID controlleris designed. The adaptive fuzzy tuning of PID parameters is obtained. Simulation results show the designed fuzzy P1D controller can well realize the propped balance control of second-order inverted pendulum, the control effect is obviously better than the conventional PID controller, the overshoot and adjust time is small, and has a good anti-jamming capability. It is very suitable for the stability control of the model of second-order inverted pendulum.
出处
《华侨大学学报（自然科学版）》
CAS
北大核心
2016年第1期74-78,共5页
Journal of Huaqiao University(Natural Science)
基金
吉林省教育厅"十一五"科学技术研究项目(2012年度)
关键词
倒立摆
模糊控制
比例积分微分控制器
自适应
稳定控制
inverted pendulum
fuzzy control
proportional-integral-differentia controller
adaptive
stability control
