旋转式倒立摆系统的四维模糊控制算法  

A Four-dimension Fuzzy Signal Controller of the Arm-driven Inverted Pendulum System

作　　者：贺廉云[1] 金秀慧[1] 伊连云[1] 

机构地区：[1]德州学院机电工程系,山东德州253015

出　　处：《临沂师范学院学报》2006年第6期45-48,共4页Journal of Linyi Teachers' College

摘　　要：倒立摆系统是典型的非线性、不稳定系统．设计了一个四维模糊控制器,选择以旋转式倒立摆的角度为优先控制,并建立了相应的控制规则,最后进行了仿真控制的分析,仿真结果表明该系统具有鲁棒性、稳定性好和算法简单的特点,可以应用在控制要求较高的场合．The inverted pendulum is a typical nonlinear and unstable system. A basic four-dimension fuzzy signal controller is designed in this paper. Then, the angle of the arm-driven inverted pendulum is controlled preferentially and the control law is established. At last, the simulation control of the controller is designed. The experimental results show that the system has robustness, good stability and simple algorithmic. It can be used in higher control system.

关 键 词：模糊控制 旋转倒立摆 MATLAB仿真 

分 类 号：TP273.4[自动化与计算机技术—检测技术与自动化装置]