基于模糊控制二级倒立摆实验装置数模的建立

针对经典控制方法难以实现对二级倒立摆实验装置系统的实时控制问题，需对实验装置的控制系统进行二次开发，为此，引入模糊控制方法改善原有的线性控制算法．模糊控制的核心是模糊控制规则，所以确定合适有效的控制规则成为解决问题的关键．采用基于经验和基于系统仿真结果两者相结合的方法，制定出了简单适用的规则库．调试结果表明，同时系统具有良好的稳定性．对二级倒立摆实验系统的实例仿真表明，该设计算法易于实现，在抑制外部扰动和实时控制性方面优于经典的状态反馈最优控制．

Research on Fuzzy Control Based Two-level Handstand Pendulum System

The two-level handstand pendulum system based on fuzzy control is designed. It is impossible to adopt classical control theory, for the mathematical modeling of the system is nonlinear, the fuzzy control is proposed to improve the former linear control algorithms. For the key to fuzzy control is control rule, it becomes most important to design suitable fuzzy rules. Two methods, one based on experience and the other based on system simulation, are presented to set u Pan effective rule base. The practice proves that the control result is of well stability. A control example for two-level handstand pendulum system shows that the control law is efficient and more robust than the classical state feedback optimal control law with respect to errors produced by the external disturbances.