基于T-S型的平面倒立摆双闭环模糊控制研究  

Study of Double Closed-loop Fuzzy Control for Planar Inverted Pendulum on Takagi-Sugeno Model

作　　者：侯涛[1,2] 范多旺[2] 杨剑锋[1] 

机构地区：[1]兰州交通大学自动化与电气工程学院,甘肃兰州730070 [2]兰州交通大学光电技术与智能控制教育部重点实验室,甘肃兰州730070

出　　处：《控制工程》2012年第5期753-756,共4页Control Engineering of China

基　　金：国家自然科学基金(60904058);铁道部科技研究开发计划课题(2011X008-D)

摘　　要：针对多变量、非线性、强耦合的平面一级倒立摆系统,设计了双闭环模糊控制器。在系统数学模型的基础上,将平面一级倒立摆系统近似分解成2个非耦合的独立运动,然后利用极点配置的反馈控制方法,设计了2个模糊控制器,分别控制两个独立运动。解决了模糊控制规则数随输入变量数指数增加问题,降低了倒立摆控制系统设计的难度和复杂度。The main purpose of the paper is to demonstrate a double closed-loop fuzzy controller based on multi-variable and nonlinear planar inverted pendulum system. This system is decomposed into approximately two non-coupling independence movements on mathe- matical model of the system, and using the feedback control methods based on the pole placement to design two fuzzy controllers, to control the two separate movements respectively, which has solved the problem of fuzzy control rule numbers increase exponentially with the input variable numbers, and reduces the difficulty and complexity of the control system designation.

关 键 词：平面倒立摆 双闭环反馈控制 模糊控制 极点配置 

分 类 号：TP27[自动化与计算机技术—检测技术与自动化装置]