四级倒立摆的状态变量合成模糊神经网络控制  

Control of Four Level Inverted Pendulum by Using State Varieties Synthesis Fuzzy Neural Network

作　　者：李莉[1] 任洪亮 李福义 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001 [2]哈尔滨工程大学动力与核能工程学院,黑龙江哈尔滨150001

出　　处：《计算机测量与控制》2003年第6期435-438,共4页Computer Measurement &Control

摘　　要：文章给出了四级倒立摆系统的硬件组成 ,分析了四级倒立摆的系统结构、建立了数学模型。分析了系统的可控性、可观测性 ,给出了一种基于状态变量合成的模糊神经网络控制控制方法。在实践中证明该方法可行 ,成功地立起四级倒立摆。The hardware structure of the four level inverted pendulum control system is presented. The observability mathematical model and the system construction of the four level inverted pendulum are analyzed. The controllability and observablility of system are also analyzed. State varieties synthesis fuzzy neural network controller is used in order to solve the rule number's explosion problem in multi-variable. In practice, the feasibility of the system has been proved. The four level inverted pendulum has been stood successfully.

关 键 词：现代控制理论 四级倒立摆 状态变量合成 模糊神经网络 模糊控制 数学模型 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程] O231[自动化与计算机技术—控制科学与工程]