倒立摆系统的模糊控制研究  

Study of Fuzzy Control of the Inverted-pendulum

作　　者：周群利[1] 

机构地区：[1]芜湖职业技术学院电气工程学院,安徽芜湖241006

出　　处：《鸡西大学学报（综合版）》2015年第7期43-45,共3页JOurnal of Jixi University:comprehensive Edition

摘　　要：当倒立摆的摆角和摆速在一定范围内变化时,分别采用三个模糊集"负、零、正",对倒立摆系统的数学模型方程进行模糊化,得到7条Sugeno型模糊规则,根据系统参数及摆角和摆速的值,得到对应模糊规则下倒立摆系统的数学模型方程,然后对每个区域选择期望的闭环极点,设计出极点配置状态反馈控制器,对倒立摆系统进行控制,仿真结果力证了此方法的有效性。When the pendulum swing, the angle and swing speed varies in a certain range. Mathematic model of inverted pen- dulum system is blurred with three fuzzy sets ＂negative, zero, positive＂. Seven Sugeno fuzzy rules were got. According to the system parameters, the swing angle and swing speed value, the mathematical model equations of inverted pendulum system were got under the condition of the corresponding fuzzy rules. The expectancy of closed loop poles was selected to each region. Then pole assignment state feedback controller was designed to control the inverted pendulum system. The simulation results prove the effectiveness of the proposed method.

关 键 词：SUGENO模糊模型 倒立摆 模糊控制 

分 类 号：TP273.4[自动化与计算机技术—检测技术与自动化装置]