模糊PID控制在倒立摆稳摆中的噪声抑制分析  

Noise Suppression Analysis of Fuzzy PID Control in Inverted Pendulum Stabilization

作　　者：詹明锟 周浩[1] Zhan Mingkun;Zhou Hao(College of Weapon Engineering,Naval University of Engineering,Wuhan 430030,China)

机构地区：[1]海军工程大学兵器工程学院,武汉430030

出　　处：《兵工自动化》2024年第8期1-5,9,共6页Ordnance Industry Automation

摘　　要：针对普通PID控制在倒立摆稳摆中不能有效抑制干扰噪声的问题,通过模糊控制算法对PID参量整定进行在线实时调整。在完成模糊PID控制器的设计应用后对倒立稳摆中的噪声抑制效果进行分析,并对影响控制效果的隶属函数选取进行探讨。结果表明:模糊PID参数整定能起到噪声抑制效果,且模糊算法使用方便,适应性强。Aiming at the problem that the ordinary PID control can not effectively suppress the interference noise in the stabilization of the inverted pendulum,the fuzzy control algorithm is used to adjust the PID parameters online in real time.After the design and application of the fuzzy PID controller,the noise suppression effect of the inverted pendulum is analyzed,and the selection of the membership function which affects the control effect is discussed.The results show that the fuzzy PID parameter tuning can play a role in noise suppression,and the fuzzy algorithm is easy to use and has strong adaptability.

关 键 词：倒立摆 模糊控制 参数整定 噪声抑制 隶属函数 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]