Stabilization control device of an inverted pendulum system

摘要

[Summary] [purpose] to apply the SIRMs dynamic importance degree of coupling type fuzzy inference models, regardless of the initial state, the inverted pendulum that the pendulum on the truck were stable inverted, back to promptly origin or a specific position of the rail truck to provide a stabilization control devices of the system. [Configuration] angle of pendulum 3 θ and angular velocity ω, SIRM and (single input rule) and the dynamic importance degree of which varies depending on the control situation is defined for input item of position x and velocity v of the truck 2 and, at each sampling time kT, the angle of the pendulum 3 θ, the angular velocity ω, while the respective data of the position x and velocity v of the carriage 2 is input, the inference value f _i⁰ of each SIRM (k) is determined dynamic emphasis of W _i^D of each SIRM (k) is determined, the driving force f acting on the carriage 3 based on the value obtained by summing these are controlled.