基于Simulink的小车-倒摆模糊自适应控制系统设计与仿真  

Design and Simulation of the Adaptive Fuzzy Control System for the Inverted Pendulum Using the Simulink

作　　者：张绍德[1] 

机构地区：[1]安徽工业大学电气信息学院,马鞍山243002

出　　处：《系统仿真学报》2003年第5期724-726,共3页Journal of System Simulation

基　　金：安徽省高等学校科研基金项目资助(2001-KJ030)

摘　　要：运用动力学原理建立了小车-倒摆的仿真模型, 并以对象输入输出的测试数据为依据,讨论了Takagi-Sugeno模糊模型的参数辨识,提出了模糊逆模型控制方案,基于此借助Matlab的Simulink设计了小车-倒摆的动态模型及其模糊自适应控制系统。仿真结果证明了本文采用的控制策略的有效性。In this paper an artificial model of the inverted pendulum is established using dynamical principle. An approach to identify the parameter of the T-S fuzzy model in terms of its input and output testing data is investigated and a control scheme based on inverse fuzzy model is proposed. Based on these, the dynamic model and adaptive fuzzy control system of the inverted pendulum is designed under the environment of Matlab Simulink. The experimental results show the effectiveness of the control scheme.

关 键 词：T—S模型 模糊辨识 SIMULINK仿真 仿真模型 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置] TP273.4[自动化与计算机技术—控制科学与工程]