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针对多变量、非线性、强耦合的平面一级倒立摆系统,设计了双闭环模糊控制器。在系统数学模型的基础上,将平面一级倒立摆系统近似分解成2个非耦合的独立运动,然后利用极点配置的反馈控制方法,设计了2个模糊控制器,分别控制两个独立运动。解决了模糊控制规则数随输入变量数指数增加问题,降低了倒立摆控制系统设计的难度和复杂度。
For the multivariable, nonlinear and strongly coupled planar inverted pendulum system, a double closed-loop fuzzy controller is designed. Based on the mathematical model of the system, the planar inverted pendulum system is approximately decomposed into two non-coupled, independent motions. Then two pole controllers are designed to control two independent motions by using the feedback control method of pole placement. The problem that the number of fuzzy control rules increases exponentially with the number of input variables is solved, which reduces the difficulty and complexity of designing an inverted pendulum control system.