双闭环模糊控制器在单级倒立摆系统中的应用  

Application of Double Closed-Loop Fuzzy Controller in Single Inverted Pendulum

作　　者：贾荣丛[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：《兵工自动化》2006年第11期62-63,共2页Ordnance Industry Automation

摘　　要：通过对单级倒立摆的双闭环的控制数学模型的分析,采用模糊控制理论对倒立摆的控制系统进行计算机仿真。其中,内环控制倒立摆的角度,外环控制倒立摆的位置。在Matlab环境下的仿真步骤包括:定义隶属度函数及模糊控制规则集、解模糊。结果表明,摆杆角度和小车位置的控制过程均具有良好的动态性能和稳态性能。Through analyzing the double closed-loop control mathematical model of single inverted pendulum, the fuzzy control theory was adopted to carry out computer simulation for inverted pendulum. The inner loop regulated the angle of pendulum, while the outer loop controlled the position of inverted pendulum. The simulation steps in the environment of Matlab include defining membership functions, establishing fuzzy control rules sets and defuzzification. The simulation results showed the control process of pendulum angle and cart position had good dynamic performance and stability,

关 键 词：倒立摆 模糊逻辑控制 计算机仿真 MATLAB 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]