摘要
针对多变量、非线性、强耦合性的二级倒立摆系统的稳定控制问题.首先,为解决模糊控制在多变量系统中常遇到的"规则爆炸"问题,提出了一种基于融合函数的模糊控制方法,该方法将最优控制理论与模糊控制理论相结合,运用LQR控制方法设计了融合函数,减少了模糊控制器的规则数,并对控制参数进行了寻优和调整.其次,对系统进行了仿真分析,结果表明这种方法是有效的.最后,利用固高公司GLIP2003倒立摆系统验证了设计结果,并达到了较好的控制效果.
The paper focuses on multivariable、nonlinear and strongly-coupling the double inverted pendulum system of stability control problem.Firstly,in order to solve the fuzzy rule number＇s explosion in multi-variable system,the method of fuzzy control with fusion function was proposed,based on optimization control theory and fuzzy control theory.The dimensions of input varieties of a fuzzy controller were reduced by designing a fusion function using the LQR theory,and the parameters of fuzzy controller were optimized and adjusted.Second,the simulation results showed that the method was effective.Lastly,the design was tested by the GLIP2003 inverted pendulum system of Googol Technology Ltd,and it＇s performance was satisfying.
基金
安徽工程科技学院青年科研基金资助项目(2008yq047)
关键词
二级倒立摆
模糊控制
融合函数
double inverted pendulum
fuzzy control
fusion function
