基于模糊控制的三级倒立摆系统仿真  

Triple inverted pendulum system simulation based on fuzzy control

作　　者：李勇泉[1] 

机构地区：[1]国电南瑞科技股份有限公司,江苏南京211106

出　　处：《大众科技》2015年第6期7-9,共3页Popular Science & Technology

摘　　要：倒立摆是理想的自动控制试验对象,应用模糊控制方法,研究了三级倒立摆系统的稳定控制问题。通过对系统的线性化模型设计LQR最优控制反馈权阵,并基于最优线性控制的反馈参数选择模糊控制参数。仿真结果表明该方法可实现三级倒立摆系统的稳定控制,具有参数选择简单、动态性能较好等特点。Inverted pendulum is an ideal experimental object in automatic control area. The paper uses fuzzy control method to study the stability controlling problem of triple inverted pendulum system. The LQR optimal control feedback weight matrix is designed through the system＇s linearizing model, and the feedback parameters for optimal linear control are used to decide the fuzzy controller parameters. Simulation results show that the proposed method can achieve the stability control of triple inverted pendulum, and it has a simple parameter selection with a good dynamic performance.

关 键 词：三级倒立摆 模糊控制 LQR 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]