基于T-S模型的二级倒立摆模糊控制研究  

Research on the Fuzzy Control for Double Inverted Pendulum Based on T-S Model

作　　者：史晓霞[1] 

机构地区：[1]北京建筑工程学院电气与信息工程学院,北京100044

出　　处：《北京建筑工程学院学报》2009年第1期34-37,共4页Journal of Beijing Institute of Civil Engineering and Architecture

摘　　要：对非线性、强耦合和绝对不稳定的二级倒立摆进行了运动分析,并针对实验用的二级倒立摆,建立了其运动的状态方程.根据实验中运动的特点,提出了基于T-S模型的模糊控制,取得了较好的控制效果.The movement of nonlinear,strongly coupled and absolutely unstable double inverted pendulum systems are analysed in the paper.The state equation of the double inverted pendulum for experiment is established based on its dynamic characteristics.Afterwards,a fuzzy control method based on T-S model is proposed and good control effect is achieved.

关 键 词：二级倒立摆 状态方程 T-S模型 模糊控制 

分 类 号：TP273.4[自动化与计算机技术—检测技术与自动化装置]