两轮不平衡小车的优化模糊控制研究  

Research on Optimized Fuzzy Control of Two-wheeled Unstable Vehicle

作　　者：孙建勤[1] 何雅静[1] 孟祥忠[2] 

机构地区：[1]西安电子科技大学,陕西西安710071 [2]中国人民解放军防空兵指挥学院信息控制系,河南郑州450052

出　　处：《计算机仿真》2011年第2期184-186,406,共4页Computer Simulation

摘　　要：研究两轮不平衡小车问题,根据状态变量合成的模糊控制方法。两轮不平衡小车是一个典型的多变量非线性系统,若采用常规的模糊控制,会遇到因输入变量个数过多而带来的控制规则数呈指数增加的问题,即"规则爆炸"问题。而基于变量合成的方法是一种改进的模糊神经网络控制方法,它将小车系统的状态变量进行合成,使多变量简化为两个综合变量,有效降低了模糊控制器的维数,从而大大减少了模糊控制规则的数量。最后应用优化的控制器对小车系统进行了控制仿真,并且与线性二次型最优控制LQR做了比较,实验表明ANFIS控制器具有调节时间短和改善了稳定性,为优化设计提供了依据。In this paper,Two-wheeled Unstable Vehicle is the investigated object.An optimized fuzzy controller is presented,which is based on state variables synthesis.Two-wheeled Unstable Vehicle is a typical nonlinear system with multi-variable.If using conventional fuzzy control,there will be a problem.Because of excessive number of input variables,the control rules number will increase exponentially,which is the rule explosion.While the method based on state variables synthesis is an optimized method,which can synthesize vehicle＇s state variables,simplify the multi-variable into two composite variables,and decrease the dimensions of the controller and the control rules number greatly.At the end of the paper,the optimized fuzzy controller is used to control the Two-wheeled Unstable Vehicle and compared with LQR.The result of experiment indicates that it has better performances in adjusting time and stability.

关 键 词：两轮不平衡小车 状态变量合成 自适应神经模糊推理 线性二次型最优控制 

分 类 号：TP273.5[自动化与计算机技术—检测技术与自动化装置]