| 直线一级倒立摆模糊控制中次优滤波器的应用 |
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| 引用本文： | 李晓梅,嵇启春,冯仰敏. 直线一级倒立摆模糊控制中次优滤波器的应用[J]. 吉首大学学报(自然科学版), 2008, 29(6): 69-72 |
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| 作者姓名： | 李晓梅 嵇启春 冯仰敏 |
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| 作者单位： | 西安建筑科技大学信息与控制工程学院,陕西,西安,710055;中国新时代国际工程公司,陕西,西安,710054 |
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| 摘 要： | 采用模糊控制算法实现倒立摆的倒立平衡控制，当系统受到随机干扰时，其输出会有较大超调，摆杆存在抖动现象.为了实现系统的精确控制，得到被控对象的真实状态，消除动态噪声和量测噪声对系统带来的抖动影响，提高响应的平稳性.设计了计算量小、实时性好于Kalman滤波器的次优滤波器，从而实现倒立摆的快速平稳控制.
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| 关 键 词： | 倒立摆 随机干扰 次优滤波 模糊控制 |
Application of Sub-Optimal Filter in the Fuzzy Control of Inverted Pendulum |
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| LI Xiao-mei,JI Qi-chun,FENG Yang-min. Application of Sub-Optimal Filter in the Fuzzy Control of Inverted Pendulum[J]. Journal of Jishou University(Natural Science Edition), 2008, 29(6): 69-72 |
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| Authors: | LI Xiao-mei JI Qi-chun FENG Yang-min |
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| Affiliation: | (1.College of Information and Control Engineering，Xi’an University of Architecture and Technology,Xi’an 710055,China；2.China New Era International Engineering Corp.，Xi’an，China，710054) |
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| Abstract: | The balance control of inverted pendulum adopts fuzzy control arithmetic.There exists dithering phenomenon and system output exists biggish overshoot when the system is disturbed by stochastic disturbance.To realize system exact control,get actual states of controlled device,eliminate the dithering influence caused by dynamic noise and measure noise,enhance smoothness of response,this paper designs a sub-optimal filter,which has less numeration and much better real-time response better than kalman,and thus realizes the fast and steady control of inverted pendulum. |
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| Keywords: | inverted pendulum stochastic disturbance sub-optimal filter fuzzy control |
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