基于增益调度型参数自调整的倒立摆模糊控制  

Fuzzy control based on parameter self-tuning with gain scheduling for an inverted pendulum

作　　者：郑海平[1] 钟晨星[1] 吴利平[1] 郭毓[1] 

机构地区：[1]南京理工大学自动化学院,江苏南京210094

出　　处：《华中科技大学学报（自然科学版）》2013年第S1期5-8,共4页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家自然科学基金资助项目(60975075)

摘　　要：针对直线一级倒立摆系统,研究了基于模糊控制的稳摆方法.为提高稳摆控制精度和更好地适应外部环境干扰的影响,提出了一种增益调度型参数自调整模糊控制算法.根据系统误差及其变化率的变化,对模糊控制参数进行在线自调整,增强了控制算法的自适应能力和鲁棒性.将所提控制算法作用于实际倒立摆系统的稳摆控制,验证了算法的可行性.实验结果表明:增益调度型参数在线自调整的控制算法具有较强的鲁棒性,响应速度快,抗干扰能力强.Fuzzy control method of the single linear inverted pendulum was studied.In order to improve the control precision and adapt to the external environment interference better,a fuzzy control algorithm based on parameter self-tuning with gain scheduling was proposed.According to the changes of system error and its derivative,the fuzzy control parameters were self-tuned online,which enhanced the adaptive ability and robustness of the control algorithm.The control algorithm was applied to the actual inverted pendulum system and proved effective in practice.Experimental results show that the fuzzy control algorithm based on parameter self-tuning with gain scheduling has strong robustness,fast response,and good anti-interference ability.

关 键 词：倒立摆 模糊控制 增益调度 参数自调整 鲁棒性 控制算法 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]