| 基于加权变量模糊控制的倒立摆控制系统 |
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| 引用本文： | 陶文华,张重阳,姚凌虹,高殿奎.基于加权变量模糊控制的倒立摆控制系统[J].河南科技大学学报(自然科学版),2008,29(4). |
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| 作者姓名： | 陶文华 张重阳 姚凌虹 高殿奎 |
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| 作者单位： | 辽宁石油化工大学,信息与控制工程学院,辽宁,抚顺,113001 |
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| 摘 要： | 针对多变量、非线性和强耦合的二级倒立摆系统,利用最优控制反馈矩阵,综合考虑小车、下摆、上摆和模糊误差信息,加权模糊控制器输入变量.设计了分别以倒立摆的小车、下摆和上摆为主控制量设计三种加权变量模糊控制器,控制二级倒立摆系统稳定.仿真研究表明,以上摆为主控制量设计的加权变量模糊控制器控制效果最佳,能够得到很好的稳定效果,收敛快、精度高,表明该方法的控制效果是最有效可行的.
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| 关 键 词： | 倒立摆 模糊控制 最优控制 加权变量 |
Inverted-Pendulum System Study Based on Weight Variable Fuzzy Control |
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| TAD Wen-Hua,ZHANG Chong-Yang,YAO Ling-Hung,GAD Dian-Kui.Inverted-Pendulum System Study Based on Weight Variable Fuzzy Control[J].Journal of Henan University of Science & Technology:Natural Science,2008,29(4). |
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| Authors: | TAD Wen-Hua ZHANG Chong-Yang YAO Ling-Hung GAD Dian-Kui |
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| Institution: | TAO Wen-Hua,ZHANG Chong-Yang,YAO Ling-Hong,GAO Dian-Kui(School of Information & Control Engineering,Liaoning Shihua University,Fushun 113001,China) |
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| Abstract: | The double inverted-pendulum is a multi-variable,nonlinear,unstable system.In order to consider the cart,the lower pendulum and the upper pendulum error information,the weight variable fuzzy inputs is gained by combining the fuzzy control theory with the optimal control feedback matrix theory.Three different fuzzy controller with weight variable are designed for stabilization of the double inverted-pendulum.Simulation results show that the controller,which the upper pendulum is considered as main control va... |
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| Keywords: | Inverted-pendulum Fuzzy control Optimal control Weight variable |
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