基于模糊控制理论的二级倒立摆控制算法  

The control arithmetic for the double inverted pendulum based on the fuzzy control theory

作　　者：过润秋[1] 洪旭[1] 苏旺旺[1] 

机构地区：[1]西安电子科技大学机电工程学院,陕西西安710071

出　　处：《西安电子科技大学学报》2006年第1期111-115,共5页Journal of Xidian University

基　　金：陕西省自然科学基金资助项目(2004F29)

摘　　要：采用模糊控制理论研究了二级倒立摆控制问题.运用最优控制方法设计了融合函数以降低模糊控制器的输入变量维数,大大减少模糊控制的规则数,并研究了量化因子对控制效果的影响,通过设置阈值使量化因子可自动调节,进而提高模糊控制器的性能品质.仿真和实验结果都证明这种模糊控制算法规则数少,响应速度快,有良好的稳定性和鲁棒性.The double inverted pendulum is a multivariable, nonlinear, strong-complying system. The fuzzy control theory is introduced to study the controlling problem of the double inverted pendulum in this paper. The dimensions of input varieties of a fuzzy controller are depressed by designing a fusion function using the optimization control theory, and it can reduce the rules of fuzzy greatly. The infection of quantification factors to the effect of control is studied. The quality of the fuzzy controller is improved by adding auto turning quantification factors. Simulation and experiment prove that this fuzzy control arithmetic has the advantages of few rules, fast speed, good stability and good robustness.

关 键 词：二级倒立摆 模糊控制 融合函数 量化因子 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]