单电机TORA系统的双闭环模糊控制

Fuzzy Cascade Control of TORA System

针对由单电机驱动的欠驱动TORA(Translational oscillators with rotating actuator)系统,基于拉格朗日方程,建立其动力学模型。采用双闭环的模糊控制方案实现该系统的稳定控制,内环控制小球的摆角,外环控制小车的位置,设计了可靠的模糊控制规则,仿真结果验证了控制器的有效性。

Based on Lagrange equations,the dynamics of an underactuated TORA(Translational oscillators with rotating actuator)systems is derived.A fuzzy cascade control scheme for TORA is presented.The inner fuzzy controller regulates the angle of the ball,while the outer fuzzy controller is for positioning the cart.Reliable fuzzy control rules is designed.Simulation results demonstrate the feasibility of the proposed controller.