两轮移动倒立摆的开关切换模糊极点配置控制器设计  

The design of switch fuzzy pole placement controller for two-wheel mobile inverted pendulum

作　　者：杨兴明[1] 余忠宇[1] 

机构地区：[1]合肥工业大学计算机与信息学院,安徽合肥230009

出　　处：《电路与系统学报》2012年第4期58-62,共5页Journal of Circuits and Systems

基　　金：安徽省自然科学基金(090412041)

摘　　要：为了更好地控制两轮移动式倒立摆,文章以两轮移动式倒立摆动力学数学模型为基础,设计了一种开关切换模糊极点配置控制器,利用该控制器对系统进行控制。通过一个选择型开关把模糊控制和状态反馈的极点配置控制有机的统一起来构成了开关切换模糊极点配置控制器。在Simulink中,对设计的开关切换模糊极点配置控制器进行了仿真,实现了两轮移动式倒立摆的平衡、匀速前进、匀速转弯。仿真结果说明了开关切换模糊极点配置控制器对两轮移动式倒立摆起到一定的抗干扰和理想的控制作用。To control efficiently two-wheel mobile inverted pendulum, based on the dynamic mathematical model of that pendulum, design of a kind of switch fuzzy pole placement controllers which is used to control the system is presented in the paper. A selective switch connects organically a fuzzy controller and state feed-back pole placement controller, which constitute the switch fuzzy pole placement controller. The paper gives control simulations of the switch fuzzy pole placement controller in Simulink which implements balance, advance of constant speed, whirl of constant speed of two-wheel mobile inverted pendulum. Results of simulations illustrate that the switch fuzzy pole placement controller plays role of anti-jamming at some degree and ideal role of control in the two-wheel mobile inverted pendulum.

关 键 词：两轮移动式倒立摆 开关切换 模糊极点配置 SIMULINK 仿真 

分 类 号：TP27[自动化与计算机技术—检测技术与自动化装置]