基于模糊控制的旋转倒立摆稳定性仿真研究  

Simulation Research on Stability of Rotary Inverted Pendulum Based on Fuzzy Control

作　　者：赵博[1] 李嘉波 李忠玉 叶敏[1] 徐信芯[1] ZHAO Bo;LI Jiabo;LI Zhongyu;YE Min;XU Xinxin(National Engineering Laboratory for Highway Maintenance Equipment,Changan University,Xi'an Shaanxi 710064,China;Henan Gaoyuan Highway Maintenance Technology Co.,Ltd.,Xinxiang Henan 453003,China)

机构地区：[1]长安大学公路养护装备国家工程实验室,陕西西安710064 [2]河南省高远高速公路养护技术有限公司,河南新乡453003

出　　处：《机床与液压》2020年第7期131-134,共4页Machine Tool & Hydraulics

基　　金：国家自然科学基金资助项目(51805041);陕西省自然科学基金资助项目(2017JQ5081);陕西省交通运输厅科研项目(18-17k)。

摘　　要：倒立摆是一个复杂的、非线性、不稳定的系统,通常采用数学建模的方法研究倒立摆系统,该方法复杂繁琐且在建模过程中简化约束条件,使仿真结果存在一定误差。在Matlab Simulink环境中基于Simscape模块进行倒立摆系统的建模;根据倒立摆系统的运行特征设计了新的模糊规则表,并基于此表建立模糊控制器;采用该模糊控制器在不同的条件下对倒立摆进行控制,取得了良好的控制效果。The inverted pendulum is a complex,nonlinear and unstable system.The study of the inverted pendulum system is usually use the method of mathematical modeling,however the method is too complicated and the constraint conditions need to be simplified in the modeling process,which results in some errors in the simulation results.Based on Simscape module the inverted pendulum system was modeled in Matlab Simulink environment.A new fuzzy rule table was designed according to the operation characteristics of the inverted pendulum system,and a fuzzy controller was built based on the table.The fuzzy controller was used to control the inverted pendulum under different conditions,and a good control effect was obtained.

关 键 词：Simscape 倒立摆模型 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]