基于模糊控制算法的一级倒立摆控制研究  

Control Research of the First Inverted Pendulum Based on Fuzzy Control Algorithm

作　　者：魏芬[1] 王素青[1] 邓海琴[1] 郝雯娟[1] WEI Fen;WANG Su-qing;DENG Hai-qin;HAO Wen-juan(Nanjing University of Aeronautics and Astronautics Jincheng College,Nanjing Jiangsu 211156,China)

机构地区：[1]南京航空航天大学金城学院,江苏南京211156

出　　处：《计算机仿真》2023年第3期320-325,共6页Computer Simulation

基　　金：2019年江苏省高校青蓝工程项目;教育部产学合作协同育人项目(201902252019);南京航空航天大学金城学院教育教学改革研究项目(2019-Z-01);北方国际大学联盟教育教学研究课题(20210615001)。

摘　　要：针对多变量的被控对象采用模糊控制算法时存在着“规则爆炸”问题,提出一种基于融合函数的模糊控制器设计方法。先对一级倒立摆系统进行建模并分析其稳定性和可控性,再设计LQR控制器;接着分析基于融合函数的模糊控制算法并设计模糊控制器;最后利用MATLAB软件对LQR控制和基于融合函数的模糊控制进行仿真研究。仿真结果表明,所设计的基于融合函数的模糊控制器能很好地对倒立摆进行控制,在控制性能、控制精度和抗干扰性方面优于LQR控制,并且具有很好的鲁棒性。There is a"rule explosion"problem for the multivariable controlled object in fuzzy control,a fuzzy controller design method based on fusion function is proposed.Firstly,the inverted pendulum system was modeled and its stability and controllability were analyzed and then the LQR controller was designed.Then the fuzzy control algorithm based on fusion function was analyzed and the fuzzy controller was designed.Finally,the LQR control and fuzzy control based on fusion function were simulated using MATLAB software.The simulation results show that the fuzzy controller based on fusion function can control the inverted pendulum well,it is better than LQR control in control performance,control precision and anti-interference,and has good robustness.

关 键 词：倒立摆 融合函数 模糊控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]