摘要
研究基于动态查询表的模糊控制策略及其在转臂式倒立摆中的应用 .采用一种新的倒立摆系统的控制方法 ,将传感器检测的倒立摆的两个角度信息传送到控制器 ,控制器利用该信息的模糊化量按基于动态查询表的模糊控制策略进行实时计算 ,由得出的控制量控制力矩电机驱使摆杆运动 ,从而使摆臂处于动态的直立状态 .采用 C++语言实现了对倒立摆的控制 .实验结果表明 ,这种控制方式能够提高系统的控制精度 .
A fuzzy strategy based on dynamic query table and its application on rotary inverted pendulum are studied. A new method is used to control the system of inverted pendulum. With this method, two angles of the inverted pendulum examined by an angular sensor are transmitted to a controller. In the controller, using the fuzzy values of the two angles to calculate the real time based on the dynamic query table, the output is used to control the torque motor which drives the inverted pendulum. As a result of this the inverted pendulum is kept in dynamic upright state. Using the C++ language, tests have shown that this is an effective method in the control of an inverted pendulum system, and can improve the accuracy of rotary inverted pendulum systems.
出处
《北京理工大学学报》
EI
CAS
CSCD
北大核心
2002年第3期347-350,共4页
Transactions of Beijing Institute of Technology
基金
高等学校优秀青年教师教学科研奖励计划资助项目
关键词
模糊控制
动态查询表
转臂式倒立摆
非线性系统
fuzzy control
dynamic query table
rotary inverted pendulum
nonlinear system
