| 采用自适应模糊PID的二阶倒立摆控制 |
| |
| 引用本文： | 宋国杰. 采用自适应模糊PID的二阶倒立摆控制[J]. 华侨大学学报(自然科学版), 2016, 0(1): 74-78. DOI: 10.11830/ISSN.1000-5013.2016.01.0074 |
| |
| 作者姓名： | 宋国杰 |
| |
| 作者单位： | 四平职业大学 电子工程学院, 吉林 四平 136002 |
| |
| 摘 要： | 建立一个二阶倒立摆的数学模型,将常规比例-积分-微分(PID)控制与模糊控制相结合,设计模糊PID控制器,实现PID参数的自适应模糊整定.仿真实验表明:所设计的模糊PID控制器能很好地实现二阶倒立摆的扶起平衡控制,控制效果明显好于常规PID控制器,超调量和调节时间较小,具有较好的抗干扰能力,非常适合二阶倒立摆模型的稳定控制.
|
| 关 键 词： | 倒立摆 模糊控制 比例-积分-微分控制器 自适应 稳定控制 |
Research on Double Inverted Pendulum Control Using Adaptive Fuzzy PID |
| |
| SONG Guojie. Research on Double Inverted Pendulum Control Using Adaptive Fuzzy PID[J]. Journal of Huaqiao University(Natural Science), 2016, 0(1): 74-78. DOI: 10.11830/ISSN.1000-5013.2016.01.0074 |
| |
| Authors: | SONG Guojie |
| |
| Affiliation: | College of Electronic Engineering, Siping Vocational College, Siping 136002, China |
| |
| Abstract: | In this paper, a mathematical model of second-order inverted pendulumis built. The conventional proportional-integral-differential(PID)control and fuzzy controlare combined, and a fuzzy PID controlleris designed. The adaptive fuzzy tuning of PID parameters is obtained. Simulation results show the designed fuzzy PID controller can well realize the propped balance control of second-order inverted pendulum, the control effect is obviously better than the conventional PID controller, the overshoot and adjust time is small, and has a good anti-jamming capability. It is very suitable for the stability control of the model of second-order inverted pendulum. |
| |
| Keywords: | inverted pendulum fuzzy control proportional-integral-differentia controller adaptive stability control |
| 本文献已被 CNKI 等数据库收录！ |
| 点击此处可从《华侨大学学报(自然科学版)》浏览原始摘要信息 |
|
点击此处可从《华侨大学学报(自然科学版)》下载全文 |
