二级倒立摆稳定控制研究  

On Stability Control for Double Inverted Pendulum

作　　者：张立迎[1] 王划一[1] 

机构地区：[1]山东大学控制科学与工程学院,山东济南250061

出　　处：《控制工程》2009年第S1期162-165,共4页Control Engineering of China

摘　　要：提出一种利用模糊控制理论对直线二级倒立摆进行稳定控制的方法。针对多变量、非线性、强耦合性的直线二级倒立摆系统,运用拉格朗日方程法推导其运动学方程,并进行线性化处理,得到状态空间模型:利用遗传算法对最优控制加权阵的参数进行了优化,构造了最优状态变量合成函数;对二级倒立摆系统进行模糊控制仿真与实时模糊控制研究,并将其控制与线性二次最优控制进行了控制效果对比,其分析结果对该类控制对象的研究具有理论指导意义。A method utilizing fuzzy control theory on stability control of the linear double inverted pendulum is given.The Lagrange mechanics is used to drive the dynamic equation,and the state space equations are obtained with linearization method for multivariable,nonlinear and strongly-coupling linear double inverted pendulum.The parameters of weight matrix of optimization control are optimized with genetic algorithm.The optimal synthesis function of state variables is constructed.Fuzzy control simulation and real-time fuzzy control are made in the double inverted pendulum system.The results are contrasted with those of linear quadratic optimal control.The results play an important role in the learning on this type of objects.

关 键 词：二级倒立摆 遗传算法 模糊控制 实时控制 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]