| 基于T-S模型的倒立摆双闭环串级模糊控制设计与仿真 |
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| 引用本文： | 侯涛,董海鹰.基于T-S模型的倒立摆双闭环串级模糊控制设计与仿真[J].系统仿真学报,2007,19(11):2477-2479,2526. |
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| 作者姓名： | 侯涛 董海鹰 |
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| 作者单位： | 兰州交通大学光电技术与智能控制教育部重点实验室,甘肃兰州,730070;兰州交通大学自动化与电气工程学院,甘肃兰州,730070 |
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| 基金项目： | 教育部长江学者和创新团队发展计划 |
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| 摘 要： | 针对具有多变量、非线性特性的倒立摆系统,提出了一种基于T-S模型的双闭环串级模糊控制方法。在该方法中,内环控制倒立摆的角度,外环控制倒立摆小车的位移,并对双闭环参数耦合实现了解耦,降低了系统设计的难度和复杂度。数字仿真结果表明了该方法的可行性。
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| 关 键 词： | 倒立摆 双闭环解耦 串级模糊控制 T-S模型 |
| 文章编号： | 1004-731X（2007）11-2477-03 |
| 收稿时间： | 2006-04-26 |
| 修稿时间： | 2006-04-262007-01-23 |
Designs and Simulations of Double Closed-loop Cascade Fuzzy Control for Inverted Pendulum Base on T-S Model |
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| HOU Tao,DONG Hai-ying.Designs and Simulations of Double Closed-loop Cascade Fuzzy Control for Inverted Pendulum Base on T-S Model[J].Journal of System Simulation,2007,19(11):2477-2479,2526. |
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| Authors: | HOU Tao DONG Hai-ying |
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| Institution: | 1.Key Laboratory Opto-Electronic Technology and Intelligent Control, Ministry of Education Lanzhou Jiaotong University. Lanzhou 730070, China; 2.School of Automation and Electrical Engineering, Lanzhou Jiaotong University, Lanzhou 730070, China |
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| Abstract: | For the inverted pendulum system with multi-variable and nonlinear characteristic, a double closed-loop cascade fuzzy control approach was put forward based on Takagi-Sugeno fuzzy model. In this approach, the angle of inverted pendulum is controlled by the inner-loop and the displacement of the small cart is controlled by the outer-loop, and the coupling between angle parameters and displacement parameters can be decoupled successfully. The difficulty and complexity of control system are reduced. Digital simulation shows that this method is effective. |
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| Keywords: | inverted pendulum double closed-loop decoupling cascade fuzzy control T-S model |
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