模糊控制在二级倒立摆系统中的应用

摘要

为了深入研究二级倒立摆的稳定问题,本文提出了融合函数的概念,它是融合信息的一种有效手段,减少了模糊控制器的输入维数,从而使模糊规则总数明显下降.由于模糊规则比较容易建立,这样大大简化了模糊控制器关于多变量系统的的设计,再将控制器应用到二级倒立摆进行稳定实验验证,实验结果表明,此方法不仅在4s内使倒立摆达到稳定,同时具有很强的自适应能力,鲁棒性以及良好的动态特性,而且简单易行.%In order to study the stability of the double inverted pendulum problems further,this paper put forward the concept of fusion function,which is an effective method to solve the fusion information problem.It not only reduced the input dimensions of the fuzzy controller,but also made the fuzzy rule number declined obviously,as the fuzzy rules were easy to be set up,the design of fuzzy controller with respect to multivariable system was mostly simplified.The experiment which applies the fuzzy controller to control the double inverted pendulum for the stability test was finished.The experimental results showed that this method not only made the inverted pendulum stabilize in 4 s,but also displayed strong adaptive ability,robustness and good dynamic characteristics.In addition,this method was very simple and feasible.