基于T-S模型的小车倒立摆控制  

Control of inverted pendulum based on T-S model

作　　者：杜璧秀[1] 张淑梅[1] 高慧斌[1] 张玉良[1] 

机构地区：[1]中国科学院长春光学精密机械与物理研究所,长春130033

出　　处：《电子测量技术》2012年第9期56-59,共4页Electronic Measurement Technology

摘　　要：小车倒立摆系统作为1个典型的不稳定非线性系统,是进行控制理论教学及开展各种控制实验的理想实验平台,对小车倒立摆系统的控制分解为2部分:一部分称为"摆杆控制",采用T-S模糊模型来描述,利用系统的不确定性把系统表示成不确定系统的形式,设计出全局渐进稳定的模糊模型;另一部分称为"小车控制",通过对位置误差和小车速度的模糊化计算,得出控制量。最后,通过对小车倒立摆系统外加干扰信号、给定平移指令、参数摄动等实验表明,采用基于T-S模型的模糊控制,该系统可以在0.4s的时间内取得良好的控制效果,并且具有较强的鲁棒稳定性和良好的抗干扰性能。In order to establish an ideal experimental platform for the control theory teaching and developing various control experiments,the inverted pendulum system is studied which with uncertain structural parameter and interfering signal.Firstly,this inverted pendulum system is decomposed into swinging rod control system and vehicle control system.The swinging rod control system is described as Takagi-Sugeno（T-S）fuzzy model and expressed in the form of uncertain systems according to the uncertainty of the system while the whole asymptotically stable fuzzy model is designed.On the vehicle control system fuzzy computation is applied on the position error and the vehicle velocity while the control components are obtained by calculations with the fuzzy controller.Finally,the experiments which include plused jamming signal,given the movement orders and parameter perturbation to the system indicate the system can be achieved well control effect in 0.4 s.The results show that the fuzzy control strategy provides precise control to achieve the optimal robustness and anti-interference performance.It verifies this method can solve this robust fuzzy control problem.

关 键 词：小车倒立摆系统 T-S模型 参数不稳定性 线性矩阵不等式 

分 类 号：TP273.4[自动化与计算机技术—检测技术与自动化装置]