基于模糊控制算法的二级倒立摆控制器设计

Design and Simulation for the Double Inverted Pendulum Controller Based on the Fuzzy Control Algorithm

针对非线性、不稳定的二级倒立摆状态空间方程模型问题,本文提出一种基于最优控制的模糊控制器的设计方法,采用状态变量融合技术,将模糊控制器的维数由6维降到2维,并通过不断调试量化因子来提高模糊控制器的精度;同时,以Matlab Simulink为平台,建立了二级倒立摆系统仿真模型,并进行仿真分析。仿真结果表明,模糊控制很好地实现了倒立摆的稳定性控制,而且在系统存在噪声的情况下也能较好的完成控制任务;减少了模糊控制器的推理规则数,很好地解决了模糊规则爆炸问题。该研究超调量小,调节时间短,鲁棒性强,证明所提出的控制策略可行,因此具有很好的应用前景。

This paper proposes a method of fuzzy controller based on optimal control theory for the state space equations of double inverted pendulum model. In order to solve the fuzzy rule number＇s explosion in the system, the dimensions of input varieties of a fuzzy controller are depressed by designing a fusion function, and it can reduce the rules of fuzzy greatly. At the same time, this paper sets up a simulation model and control system based on Matlab Simulink platform to realize the simulation of double inverted pendu- lum. Matlab Simulation results indicate that fuzzy control can realize the stability control of inverted pendulum, and can finish control task well under the condition of noise in the system; The number of infer ence rules of fuzzy controller is decreased, and fuzzy control can solve the problem of the fuzzy rules explo- sion. The study has small overshoot amount, short setting time, and strong robustness. It proved that the proposed control method is effective, and therefore it has a very good application prospect.