基于3D刚体摆的模糊控制器的设计与试验研究

摘要

基于MATLAB构造3D刚体摆数学模型,以3D刚体摆试验平台为依托,利用模糊控制或模糊控制与P控制策略相结合,对永磁同步电机(PMSM)和3D刚体摆姿态进行控制,并通过LABVIEW软件对模糊控制算法编程设计,上位机实时监测摆控制曲线.试验结果表明模糊控制在实际工程中对3D刚体摆系统的控制具有有效性.%Mathematical model of the 3D rigid pendulum constructed by MATLAB,based on experimental platform,fuzzy controller or it combined with the P controller controlled (permanent magnet synchronous motor,PMSM) and posture of 3D rigid pendulum,fuzzy controller programming was edited through LABVIEW,and we could observe control curve of 3D rigid pendulum in PC.The results showed that the fuzzy control strategy was effective for 3D rigid pendulum in actual engineering.