RBF-ARX模型在倒立摆系统建模中的应用  

Modeling of Inverted Pendulum System Using RBF-ARX Model

作　　者：彭辉[1] 廖娟娟[1] 

机构地区：[1]中南大学信息科学与工程学院,湖南长沙410083

出　　处：《控制工程》2008年第5期481-484,488,共5页Control Engineering of China

基　　金：国家自然科学基金资助项目(60443008)

摘　　要：针对直线一级倒立摆控制系统的非线性特性,采用RBF-ARX模型对倒立摆系统的全局非线性动态特性进行建模。讨论了RBF-ARX模型结构的选取,模型参数辨识,RBF参数优化等问题。并且分别比较了该倒立摆系统的RBF-ARX模型与全局线性ARX模型,以及将RBF-ARX在某一工作点局部线性化后的模型与局部线性ARX模型的预测输出和模型误差,验证了RBF-ARX模型在倒立摆系统建模和辨识中的有效性。The RBF-ARX model is used to build the global model of the single inverted pendulum system for representing the nonlinear dynamics. The problems of the design of the structure, identification and parameter optimization of RBF-ARX model are discussed. The predictive outputs and modeling errors between the RBF-ARX model and the global linear ARX model, as well as between a loeal model from estimated RBF-ARX model and a local linear ARX model of the inverted pendulum system are compared respectively. The results show the effectiveness of RBF-ARX model to the modeling of inverted pendulum systems.

关 键 词：倒立摆 非线性系统 RBF-ARX模型 

分 类 号：TP271[自动化与计算机技术—检测技术与自动化装置]