基于模糊控制的旋转倒立摆系统  

The arm - driven inverted pendulum system based on fuzzy control

作　　者：叶晓燕[1] 傅保川[1] 王俭[1] 仲嘉霖[1] 杨西侠[2] 

机构地区：[1]苏州科技学院 电子信息工程系,江苏苏州215011 [2]山东大学 控制学院,山东济南250061

出　　处：《电机与控制学报》2005年第5期508-511,共4页Electric Machines and Control

基　　金：江苏省高校自然科学研究计划资助项目(02KJB520006)

摘　　要：针对倒立摆系统的非线性、不稳定的控制问题,研究了旋转倒立摆系统的构成和数学模型,对旋转倒立摆系统在平衡点附近进行了可控性分析,提出了一种新的基于模糊控制器进行控制的方法,建立了相应的控制规则,进行了实时控制和研究。实验结果表明,该系统具有鲁棒性、稳定性好和算法简单的特点,可以应用在实时性要求较高的场合。The inverted pendulum is a nonlinear and unstable system. The structure and mathematical model of arm-driven inverted pendulum is studied in this paper. The controllability of arm - driven inverted pendulum system is discussed at its balanced points. A new control mode based on fuzzy controller is presented, and the corresponding rule is established. At last, the real - time control of the controller is designed. Experimental results show that the system has robustness, strong stability and simple algorithmic. It can be used in higher real -time control system.

关 键 词：模糊控制 旋转倒立摆 非线性系统 

分 类 号：TP273.4[自动化与计算机技术—检测技术与自动化装置]