| 基于动态查询表的模糊控制策略及其应用 |
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| 引用本文： | 刘晟,陈杰,龚志豪,白明.基于动态查询表的模糊控制策略及其应用[J].北京理工大学学报,2002,22(3):347-350. |
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| 作者姓名： | 刘晟 陈杰 龚志豪 白明 |
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| 作者单位： | 1. 北京理工大学,自动控制系,北京,100081;2. 北京师范大学,模糊控制国家实验室,北京,100875 |
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| 基金项目： | 教育部优秀青年教师资助计划;; |
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| 摘 要： | 研究基于动态查询表的模糊控制策略及其在转臂式倒立摆中的应用.采用一种新的倒立摆系统的控制方法,将传感器检测的倒立摆的两个角度信息传送到控制器,控制器利用该信息的模糊化量按基于动态查询表的模糊控制策略进行实时计算,由得出的控制量控制力矩电机驱使摆杆运动,从而使摆臂处于动态的直立状态.采用C++语言实现了对倒立摆的控制.实验结果表明,这种控制方式能够提高系统的控制精度.
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| 关 键 词： | 模糊控制 动态查询表 转臂式倒立摆 非线性系统 |
| 文章编号： | 1001-0645(2002)03-0347-04 |
| 收稿时间： | 2001/10/17 0:00:00 |
| 修稿时间： | 2001年10月17日 |
Application of Fuzzy Strategy Based on Dynamic Query Table |
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| LIU Sheng,CHEN Jie,GONG Zhi hao and BAI Ming.Application of Fuzzy Strategy Based on Dynamic Query Table[J].Journal of Beijing Institute of Technology(Natural Science Edition),2002,22(3):347-350. |
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| Authors: | LIU Sheng CHEN Jie GONG Zhi hao and BAI Ming |
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| Institution: | LIU Sheng 1,CHEN Jie 1,GONG Zhi hao 1,BAI Ming 2 |
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| Abstract: | A fuzzy strategy based on dynamic query table and its application on rotary inverted pendulum are studied. A new method is used to control the system of inverted pendulum. With this method, two angles of the inverted pendulum examined by an angular sensor are transmitted to a controller. In the controller, using the fuzzy values of the two angles to calculate the real time based on the dynamic query table, the output is used to control the torque motor which drives the inverted pendulum. As a result of this the inverted pendulum is kept in dynamic upright state. Using the C++ language, tests have shown that this is an effective method in the control of an inverted pendulum system, and can improve the accuracy of rotary inverted pendulum systems. |
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| Keywords: | fuzzy control dynamic query table rotary inverted pendulum nonlinear system |
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