摘要
针对一种实际非精确的单级倒立摆系统,提出了一种专家模糊控制方法,在Matlab环境下编程,通过MEX接口与数据采集卡进行数据交换,将传感器检测到的角度和位移变量及其变化率经过模糊化,通过在线查询规则库的方式进行实时模糊推理,并通过解模糊运算给出控制信号作用于倒立摆系统.实验结果表明,采用此方法,在Matlab环境下进行实时控制可以获得满意的效果.
To implement the stable control of an unprecise cart-pole system, a novel expert fuzzy control scheme implemented on Matlab was presented. Matlab communicates with data sample card by MEX-File interface. The angle and the displacement signal and their changing rates were firstly fuzzified. the output control signal was then calculated by online searching the control tables and getting a fuzzy value after fuzzy inference and defuzzifying. The experiments are conducted to verify the performance of the proposed strategy based on Matlab. The results prove its validity.
出处
《江南大学学报（自然科学版）》
CAS
2004年第2期156-159,163,共5页
Joural of Jiangnan University (Natural Science Edition)
基金
浙江省教育厅科研项目(20010456)资助课题.
