摘要
采用Xilinx公司的FPGA,实现了单变量推理单元SIRM(SingleInputRuleModule)模糊控制算法。设计了以8位数字模糊控制器为核心的数字电路控制系统,成功地实现了对一节倒立摆硬件的实时控制。倒立摆可以被控制在指定滑轨位置左右3cm的区间内,偏离竖直方向小于3度。
SIRM (Single Input Rule Module), a Fuzzy Controlling algorithm, has been implemented with FPGA of Xilinx, and it is used to control a real inverted pendulum The SIRM controller is an 8bit digital controller that can balance the inverted pendulum well, as was verified by experiment The inverted pendulum can be balanced within 3 degrees around the upright position with the cart being appointed to any position on the rail within 3 cm by the controller
出处
《微电子学》
CAS
CSCD
北大核心
2003年第1期29-32,共4页
Microelectronics
基金
高等学校博士学科点专项科研基金资助课题(No.98000338)
