二级倒立摆T-S模糊控制器优化设计  

Optimization design of T-S fuzzy controller for double inverted pendulum

作　　者：李志刚 吴楠 LI Zhigang;WU Nan(College of Information Engineering,North China University of Science and Technology,Tangshan 063210,China;College of Electrical Engineering,North China University of Science and Technology,Tangshan 063210,China)

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：《现代电子技术》2018年第21期111-116,共6页Modern Electronics Technique

基　　金：河北省自然科学基金资助项目(F2013209203)~~

摘　　要：针对多维变量的被控对象进行模糊控制时存在"规则爆炸"等问题,提出基于融合函数的T-S模糊控制器设计思想。以二级倒立摆为被控对象,运用拉格朗日方程建立数学模型;运用极点配置、函数融合等方法,并结合并行分布补偿思想(PDC)进行降维T-S模糊控制器的设计,并采用改进遗传算法进行T-S模糊控制器的鲁棒优化。仿真结果表明,所设计的基于融合函数的T-S模糊控制器可实现对二级倒立摆的控制,其控制精度、鲁棒性等都优化于极点配置的线性反馈控制器。Since the controlled object with multidimensional variable has the problem of"rule explosion"for fuzzy control,a design thought of T-S fuzzy controller based on fusion function is proposed.Taking double inverted pendulum as the controlled object,the Lagrange equation is used to establish the mathematical model.The methods of pole assignment and function fusion,and parallel distributed compensation(PDC)thought are adopted to design the dimension reduced T-S fuzzy controller.The improved genetic algorithm is employed to optimize the robustness of T-S fuzzy controller.The simulation results show that the designed T-S fuzzy controller based on fusion function can realize the control of the double inverted pendulum,and its control precision and robustness are better than those of the linear feedback controller based on pole assignment.

关 键 词：二级倒立摆 T-S模糊控制器 极点配置 融合函数 遗传算法 并行分布补偿 

分 类 号：TN876-34[电子电信—信息与通信工程] TP273[自动化与计算机技术—检测技术与自动化装置]