二级倒立摆两种控制方法的对比研究

Comparative Study on Two Control Methods of the Double Inverted Pendulum

针对二级倒立摆系统的稳定控制问题,提出了LQR控制和改进的模糊控制两种控制方法。首先,采用两种控制方法设计了两种二级倒立摆系统的控制器;其次,通过仿真结果表明两种方法是有效的,但是改进的模糊控制方法比LQR控制方法效果更好;最后,将改进的模糊控制方法成功运用到了直线二级倒立摆实物系统上,进一步验证了该方法更适合解决这类非线性控制问题。

LQR control method and improved fuzzy control method are proposed to solve the stable control problem of double inverted pendulum system. First of all, this paper designs two kinds of controllers of double inverted pendulum by two control methods; Secondly, the simulation results show that the two control methods are effective, but the improved fuzzy control method has better stable control effect than the LQR control method. Finally, this paper successfully apply the improved fuzzy control method to double inverted pendulum system, and further proves that this method is more suitable for solving this kind of nonlinear control question.