基于模糊控制器的单级平面倒立摆的实时控制  

The Real-time Control for a Single Planar Inverted Pendulum Based on Fuzzy Controllers

作　　者：徐国凯[1] 赵秀春[1] 刘长宏[1] 刘金刚[2] 

机构地区：[1]大连民族学院机电信息工程学院,辽宁大连116605 [2]东北大学信息科学与工程学院,辽宁沈阳114000

出　　处：《大连民族学院学报》2008年第5期409-413,共5页Journal of Dalian Nationalities University

摘　　要：针对一个单级平面倒立摆系统,建立了相应的数学模型;进行了稳定性、能控性与能观性分析。分别设计了变量融合模糊控制策略和模糊PID复合控制策略。应用所设计的控制器对该倒立摆系统分别进行了系统仿真与实时控制实验。证明了两种模糊控制器均可以保证倒立摆系统具有良好的控制精度,特别是模糊PID复合控制器使系统具备了较强的抗外部干扰能力。The mathematical model is established for a single planar inverted pendulum system.The stability,controllability and observability of the system are analyzed.A value fusion fuzzy control strategy and fuzzy PID control strategy are designed.The controller is applied into the system simulation and real-time controlling experiments,respectively.The results show that the designed fuzzy controller has perfect control precision and excellent anti-interterence ability especially.

关 键 词：倒立摆 建模 模糊控制 实时控制 

分 类 号：TP273.4[自动化与计算机技术—检测技术与自动化装置]