倒立摆系统的分类解耦控制研究

摘要

通过建立倒立摆系统数学模型，分析其状态空间，并采用一种分类解耦的线性化方法，简化了该系统设计的复杂程度。将模糊控制与PID整定算法结合在一起，设计了一种基于分类解耦的新型控制器。由仿真结果证明了该系统良好的动态性能和稳态性能。%By establishing the mathematical model of inverted pendulum system, this paper analyzes its state space, using a linearization of classification decoupling method to simplify the complexity of the system design. Finally, a new type of controller based on classification of decoupling is also proposed. The simulation results show that the system has good dynamic performance and steady-state performance.