基于自适应模糊PID的二级倒立摆稳定控制研究

Stable control research of double inverted pendulum based on the fuzzy self-adaptive PID controller

直线二级倒立摆在运用传统PID控制时控制精度较差,该文建立了直线二级倒立摆系统的数学建模,将自适应模糊PID智能控制算法运用到二级倒立摆的稳定控制中,利用Matlab软件对传统PID控制与自适应模糊PID控制进行仿真研究。结果表明:采用自适应模糊PID控制得到的仿真图像在超调量与收敛速度效果均优于传统PID控制,说明自适应模糊PID控制效果良好。

The control precision of tlie linear double inverted pendulum in the application of tlie tradi-tional PID control is poor, the matliematical model of linear double level invertlished in this paper. The fuzzy self - adaptive PID intelligent control algorithm is applied to the stability control of the double stage inverted pendulum. The simulation study of the traditional PID control and fuzzy self - adaptive PID control is carried out by using Matlab software. The results show that the effect of fuzzy self - adaptive PID control is beter t!ian the traditional PID control, and the fuzzy self - adaptive PID con-trol is effective.