| 基于模糊控制器的单级平面倒立摆的实时控制 |
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| 引用本文： | 徐国凯,赵秀春,刘长宏,刘金刚. 基于模糊控制器的单级平面倒立摆的实时控制[J]. 大连民族学院学报, 2008, 10(5) |
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| 作者姓名： | 徐国凯 赵秀春 刘长宏 刘金刚 |
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| 作者单位： | 大连民族学院机电信息工程学院,辽宁大连,116605;东北大学信息科学与工程学院,辽宁沈阳,114000 |
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| 摘 要： | 针对一个单级平面倒立摆系统,建立了相应的数学模型;进行了稳定性、能控性与能观性分析。分别设计了变量融合模糊控制策略和模糊PID复合控制策略。应用所设计的控制器对该倒立摆系统分别进行了系统仿真与实时控制实验。证明了两种模糊控制器均可以保证倒立摆系统具有良好的控制精度,特别是模糊PID复合控制器使系统具备了较强的抗外部干扰能力。
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| 关 键 词： | 倒立摆 建模 模糊控制 实时控制 |
The Real -time Control for a Single Planar Inverted Pendulum Based on Fuzzy Controllers |
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| XU Guo-kai,ZHAO Xiu-chun,LIU Chang-hong,LIU Jin-gang. The Real -time Control for a Single Planar Inverted Pendulum Based on Fuzzy Controllers[J]. Journal of Dalian Nationalities University, 2008, 10(5) |
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| Authors: | XU Guo-kai ZHAO Xiu-chun LIU Chang-hong LIU Jin-gang |
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| Affiliation: | XU Guo-kai1,ZHAO Xiu-chun1,LIU Chang-hong1,LIU Jin-gang2 |
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| Abstract: | The mathematical model is established for a single planar inverted pendulum system.The stability,controllability and observability of the system are analyzed.A value fusion fuzzy control strategy and fuzzy PID control strategy are designed.The controller is applied into the system simulation and real-time controlling experiments,respectively.The results show that the designed fuzzy controller has perfect control precision and excellent anti-interterence ability especially. |
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| Keywords: | inverted pendulum modeling fuzzy control real-time control |
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