基于模糊动态模型的二级倒立摆系统的分析和设计  

Analysis and Design of a Double Inverted Pendulum Based on the Dynamic Fuzzy Model

作　　者：姚宏伟[1] 梅晓榕[1] 杨振强[1] 庄显义[1] 

机构地区：[1]哈尔滨工业大学控制工程系,哈尔滨150001

出　　处：《控制理论与应用》2001年第2期224-227,233,共5页Control Theory & Applications

摘　　要：首先给出了一种离散系统模糊动态模型的辨识方法 ,提出了一个衡量聚类有效性的函数 ,以确定模糊规则的数目 .并给出一个保证模糊系统全局稳定的充分条件 ,在此基础上给出了模糊控制系统的设计方法 ,并对二级倒立摆系统进行了控制 。Firstly, a method of fuzzy dynamic model identification for discretetime system is proposed. A function for measuring clustering validity is defined with which the number of fuzzy rules can be determined. A sufficient criterion that guarantees the global stability of the fuzzy system is presented. Based on this, we develop a design way of the fuzzy control system. This method is proved to have better effect through a double inverted pendulum by experiments.

关 键 词：模糊动态模型 模糊聚类 二级倒立摆系统 模糊控制系统 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]