| 基于模糊控制的单臂旋转倒立摆系统研究 |
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| 引用本文： | 王海燕.基于模糊控制的单臂旋转倒立摆系统研究[J].长春大学学报,2014(10):1326-1329. |
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| 作者姓名： | 王海燕 |
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| 作者单位： | 长春科技学院信息工程学院,长春130012 |
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| 摘 要： | 研究的是单支点垂直旋转式倒立摆系统,采用步进电动机进行驱动。由于其系统的复杂性,采用模糊控制的方法进行控制。以拉格朗日动力学分析方法为基础,推导并建立倒立摆的运动方程。为了得到简便的数学模型采取方程近似化处理。通过MATLAB仿真软件进行仿真,验证其结论的正确性和方法的可行性。
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| 关 键 词： | 旋转倒立摆 动力学模型 模糊控制 仿真 |
Research on the Single-arm Rotary Inverted Pendulum System Based on Fuzzy Control |
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| WANG Haiyan.Research on the Single-arm Rotary Inverted Pendulum System Based on Fuzzy Control[J].Journal of Changchun University,2014(10):1326-1329. |
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| Authors: | WANG Haiyan |
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| Institution: | WANG Haiyan (Information Engineering College, Changchun University of Science and Technology, Changchun 130012, China) |
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| Abstract: | This paper makes a research on the vertical rotary inverted pendulum system with a single fulcrum,which is driven by stepping motor. Due to its complex characteristics,a method of fuzzy control is used. According to the dynamics analysis method of Lagrange,the movable equation of the inverted pendulum is derived and established. In order to get an easy analytical math model,an equation approximation is done. At the same time,MATLAB simulation result shows that the conclusion is correct and the method is practicable. |
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| Keywords: | rotary inverted pendulum dynamics model fuzzy control simulation |
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