采用模糊控制的垂直型旋转式倒立摆系统  

Vertical-Rotary Inverted Pendulum System Based on Fuzzy Control

作　　者：王春生[1,2] 侯云海[2] 刘凡[2] 

机构地区：[1]长春市政沥青混凝土有限公司,长春130123 [2]长春工业大学,长春130012

出　　处：《长春理工大学学报（自然科学版）》2011年第2期77-79,共3页Journal of Changchun University of Science and Technology(Natural Science Edition)

基　　金：吉林省教育厅项目(吉教科合字[2009]第132号)

摘　　要：针对步进电机驱动的单支点垂直型旋转式倒立摆系统的复杂特性,采用了模糊控制的方法。基于拉格朗日动力学分析方法,推导出倒立摆的运动方程,在对系统进行可行的近似化处理后,得出了便于分析的数学模型。并利用MATLAB中的模糊逻辑工具箱建立倒立摆的模糊推理系统,及MATLAB的图形建模和仿真功能对倒立摆系统进行仿真。结果表明此方法具有可行性。In this paper,fuzzy control is used to control a vertical rotary invert-pendulum with single fulcrum due to its complex characteristics.Movable equation of the inverted pendulum is derived,according to the dynamics analysis method of Lagrange.By system feasible approximation,an easily analytical math model is deduced.At the same time,making use of the fuzzy logical tool package in the MATLAB to build FIS of the inverted pendulum,and the function of figure modeling and simulation in it to simulate inverted pendulum.The results shows that the method is practicable.

关 键 词：旋转倒立摆 动力学模型 模糊控制 仿真 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]