一级倒立摆的分层模糊控制  

Hierarchical Fuzzy Control of an Inverted Pendulum

作　　者：翟龙余[1] 

机构地区：[1]江苏财经职业技术学院,江苏淮安223003

出　　处：《科技信息》2012年第13期64-66,共3页Science & Technology Information

摘　　要：本文设计了两个模糊控制器即位置模糊控制器和角度模糊控制器,用这两个模糊控制器进行分层控制,并把位置模糊控制器控制输出作为一个虚拟角度乘以一个系数与摆杆的实际角度叠加形成一个广义角,以这个广义角和摆杆的角速度作为输入量输入给角度模糊控制器对摆杆的角度进行控制;通过matlab的Simulikn实现了倒立摆模糊控制系统的仿真,仿真结果证明:模糊控制器不仅可以稳定倒立摆系统,还可以使小车定位在特定位置。Two fuzzy control design,that is location fuzzy controller and angle fuzzy controller,in hierarchical control.Take the output of the location fuzzy controller as a virtual angle plus a parameter which adds to the real angle of the swing pole to form a generalized angle.Take the generalized angle and the angular velocity as the input into the angle fuzzy controller to control the angle of the swing pole.Simulation experiment of the fuzzy control of inverted pendulum is very well implemented by using MATLAB SIMULINK.The result shows that it not only has quite good stability,but also is able to make the cart of the pendulum moving to the place where it is appointed by us in advance,along the orbit.

关 键 词：倒立摆 模糊控制 仿真 

分 类 号：TP273.4[自动化与计算机技术—检测技术与自动化装置]