摘要
研制出一种低成本、高可靠性和高稳定性倒立摆硬件系统,同时提出一种专家模糊控制策略以及基于MATLAB的实时控制途径。采用模糊组合变量来减少模糊规则数,并根据摆角来选择不同模糊规则库从而提高控制性能。用Matlab实现的控制算法在对倒立摆的实验中表现出很好的实时控制性能。
The hardware of an inverted pendulum system was developed with low-cost and high reliability and stability, Meanwhile, a novel expert fuzzy control scheme and the MATALB-based real-time control approach was proposed. The number of fuzzy control rules was significantly reduced by combining related variables, and the control performance was greatly improved by adopting suitable rule-base according to the angle of the pole with the vertical. The proposed control scheme was implemented in MATLAB and showed good performance in the real-time fuzzy control of the developed inverted pendulum.
