| 二级倒立摆基于融合函数的模糊控制 |
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| 引用本文： | 邢景虎,陈其工,江明. 二级倒立摆基于融合函数的模糊控制[J]. 合肥工业大学学报(自然科学版), 2011, 34(8): 1155-1159. DOI: 10.3969/j.issn.1003-5060.2011.08.009 |
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| 作者姓名： | 邢景虎 陈其工 江明 |
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| 作者单位： | 安徽工程大学电气传动与控制安徽省高校重点实验室,安徽芜湖,241000 |
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| 基金项目： | 安徽工程大学青年科研基金资助项目(2008YQ047) |
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| 摘 要： | 文章针对多变量、非线性、强耦合性的二级倒立摆系统,采用模糊控制理论研究了二级倒立摆的稳定控制问题.考虑到二级倒立摆为多变量系统,为了解决模糊控制器规则组合爆炸问题,利用LQR控制方法设计了融合函数以降低模糊控制器的输入变量维数,降低了控制器的设计难度,并研究了量化因子对控制效果的影响,通过设置阈值使量化因子可自动调节,...
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| 关 键 词： | 二级倒立摆 模糊控制 融合函数 量化因子 |
Fusion function based fuzzy control for a double inverted pendulum |
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| XING Jing-hu,CHEN Qi-gong,JIANG Ming. Fusion function based fuzzy control for a double inverted pendulum[J]. Journal of Hefei University of Technology(Natural Science), 2011, 34(8): 1155-1159. DOI: 10.3969/j.issn.1003-5060.2011.08.009 |
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| Authors: | XING Jing-hu CHEN Qi-gong JIANG Ming |
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| Affiliation: | XING Jing-hu,CHEN Qi-gong,JIANG Ming (Anhui Provincial Key Laboratory of Electrical Transmission and Control,Anhui Polytechnic University,Wuhu 241000,China) |
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| Abstract: | In view of the multi-variable,nonlinear and strongly-coupling double inverted pendulum system,the fuzzy control theory is introduced in this paper to study the stability control of the double inverted pendulum.In order to solve the rule number explosion problem of fuzzy controller in a multi-variable system like double inverted pendulum,the dimensions of input variables of the fuzzy controller are depressed by a fusion function designed on the basis of LQR theory.It can reduce the design difficulty of contr... |
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| Keywords: | double inverted pendulum fuzzy control fusion function quantification factor |
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