一级直线倒立摆匀速行走的模糊控制研究与实现  

Fuzzy Control Study and Implementation of Uniform-Velocity Walking of Linear 1-Stage Inverted Pendulum

作　　者：阮晓钢[1] 程怀玉[1] 于乃功[1] 左国玉[1] 

机构地区：[1]北京工业大学电子信息与控制工程学院,北京100022

出　　处：《计算机测量与控制》2009年第1期56-59,共4页Computer Measurement &Control

基　　金：国家863计划项目(2007AA04Z226);国家自然科学基金资助项目(60774077);北京市属市管高等学校人才强教计划资助项目;高等学校博士学科点专项科研基金(20050005002)

摘　　要：当前针对倒立摆的研究一般是把角度控制或者位置控制作为控制目标,很少着眼于速度控制,有鉴于此,设计了一种简单的模糊控制器,应用于一级直线倒立摆的匀速行走控制中;仿真实验和实物实时控制实验均验证了该控制器的有效性,对于设定的速度整定值,通过调整几个比例环节的系数,系统具有很好的动态性能指标,而且控制器在有外界扰动时体现了很好的抗扰性;考虑到实际物理系统中倒立摆行程的限制,设计的自动换向开关实现了倒立摆在一段给定的行程上匀速来回行走的控制目标,通过手动切换开关也能实现倒立摆的位置控制。Currently most researchers of the Linear 1--stage inverted pendulum regard angle control, position control or both of them, nearly not the speed control, as their control objectives. Due to this reason, a simple fuzzy controller is designed to achieve uniform--velocity walking of the linear 1--stage inverted pendulum. The controller＇s validity has been verified through the experiment on the inverted pendu- lum system. Given the preset value of its velocity, the inverted pendulum shows a good dynamic performance by varying several gain parame- ters, and its robustness behaves also well. Due to the trajectory limitation of the real inverted pendulum system, we design an automatic switch and a manual switch, which can realize following three tasks., angle control, position control and uniform--velocity--walking control.

关 键 词：匀速行走 模糊控制 倒立摆 

分 类 号：TP27[自动化与计算机技术—检测技术与自动化装置]