二级倒立摆的T-S模糊控制器设计  

Design of T-S Fuzzy Controller of Double Inverted Pendulum

作　　者：李志刚 吴楠 

机构地区：[1]华北理工大学信息工程学院,河北唐山063210 [2]华北理工大学电气工程学院,河北唐山063210

出　　处：《华北理工大学学报（自然科学版）》2017年第4期82-87,共6页Journal of North China University of Science and Technology：Natural Science Edition

基　　金：河北省自然科学基金资助项目(F2013209203)

摘　　要：为了解决多变量、非线性、强耦合的二级倒立摆系统在进行模糊控制时遇到的模糊规则爆炸问题,设计了基于融合变量的T-S模糊控制器。通过配置极点设计融合函数,以融合函数生成的变量作为输入,倒立摆控制输入为T-S模糊控制器输出;采用改进遗传算法对T-S模糊控制器进行鲁棒性优化。仿真实验表明,所设计的二级倒立摆的T-S模糊控制器鲁棒性比较好。In order to solve the multivariable,nonlinear and strong-coupling of the double inverted pendulum system with the fuzzy rules explosion problem,a T-S fuzzy controller based on the fusion function was designed.The fusion function was designed with the pole design.The T-S fuzzy controller is input by using the variable generated by the fusion function,and the output by the inverted pendulum control input.The improved genetic algorithm is used to optimize the robustness of the T-S fuzzy controller.The simulation results show that the design of the double inverted pendulum T-S fuzzy controller robustness is better.

关 键 词：二级倒立摆 T-S模糊控制器 融合函数 遗传算法 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]