摘要
提出了一种基于现场可编程门阵列(FPGA)的模糊逻辑控制器的硬件实现方法,并将其用于倒立摆控制系统。实验研究表明,在倒立摆倾角小于10°时,软件或硬件控制效果相当,在倾角大于10°时硬件模糊控制器的控制效果明显优于软件模糊控制器的控制效果,而且前者的抗扰动性能更好。当倾角大于30°时,由于机械性能方面的原因,倒立摆的稳定性有所降低。因此,采用该方法不仅快,而且是一种足以灵活完成数字模糊控制器的方法。该设计方法稍加修改亦可应用于其他控制场合,具有良好的通用性。
A hardware implementation of fuzzy logic controller based on the field programmable gate array (FPGA) is proposed. And the method is used to the inverted pendulum control system. The experiment research shows that the software control effectiveness is as same as the hardware if the pendulum angle is less than 10 degree,whereas the hardware fuzzy controller is better than the software one if the angle is larger than 10 degree.The stability of the pendulum will be down when the angle is larger than 30 degree,because of the mechanical performance. The result shows that the method is not only faster, but also flexible enough to complete digital fuzzy inference. With a few modifications this method are also available for many other applications.
出处
《控制工程》
CSCD
2004年第1期34-35,69,共3页
Control Engineering of China
