基于模糊控制和PID控制的一阶倒立摆系统建模与仿真  

First-order Inverted Pendulum Control System Modeling and Simulation Based on Fuzzy Control and PID Control

作　　者：杨治明[1] 宋乐鹏[1] 杨清林[2] 王春涛[2] 

机构地区：[1]重庆科技学院电气与信息工程学院,重庆401331 [2]重庆科技学院教务处,重庆401331

出　　处：《北华大学学报（自然科学版）》2012年第3期356-359,共4页Journal of Beihua University（Natural Science）

基　　金：重庆市科委自然科学基金项目(2010BB2284)

摘　　要：对一阶倒立摆系统的平衡控制问题进行了控制策略研究.建立了系统数学模型,分别采用模糊控制和PID控制策略设计了控制器,并用Matlab/Simulink对控制系统进行了仿真实验研究.仿真实验结果不仅证明了两种控制策略对系统平衡控制的有效性,同时也展示了它们的控制品质和特性.The research on the control policy of the first-order inverted pendulum balance issue was described. A mathematical model was established first, then the fuzzy control policy and PID control policy had been applied in the design of controller respectively, at last, the simulation research on the control system was carried out by using Matlab/Simulink software. The results of the simulation research show that the control policy is effective, the control quality and control character of the control policies had shown.

关 键 词：倒立摆 PID 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]