基于二级倒立摆实验装置模糊控制  

Fuzzy control based two-level handstand pendulum system

作　　者：蔡芳[1] 陈勇[2] 

机构地区：[1]贵州大学理学院,贵州贵阳550000 [2]重庆邮电学院自动化学院,重庆400065

出　　处：《长春工业大学学报》2006年第2期103-107,共5页Journal of Changchun University of Technology

基　　金：重庆邮电学院青年教师基金资助项目(A2004-25)

摘　　要：引入模糊控制改善原有的线性控制算法,对二级倒立摆实验装置系统进行了二次开发。将经验和基于系统仿真结果相结合,制定出了简单适用的规则库。该实验系统的实例仿真及调试结果表明,系统具有良好的稳定性,在抑制外部扰动和实时控制性方面,本方法优于经典的状态反馈最优控制。Based on a linear control algorithm, the property of a two-level handstand pendulum system is improved by introducing the fuzzy control strategy. The experiences are combined with the simulation results to build an applicable rule library. Both the simulation and experimental results basing on the system show that the system is stable, and the fussy control is superior to the classic state-feedback optimal control in the aspect of checking the disturbance and real-time.

关 键 词：模糊控制 二级倒立摆 控制规则 非线性 实时性 稳定性 最优控制 

分 类 号：TP273.4[自动化与计算机技术—检测技术与自动化装置]