| 倒立摆的双闭环解耦切换模糊控制设计与仿真 |
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| 引用本文： | 侯涛,牛宏侠.倒立摆的双闭环解耦切换模糊控制设计与仿真[J].兰州铁道学院学报,2007,26(1):29-31. |
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| 作者姓名： | 侯涛 牛宏侠 |
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| 作者单位： | 兰州交通大学自动化与电气工程学院，光电技术与智能控制教育部重点实验室(兰州交通大学) 甘肃兰州730070，光电技术与智能控制教育部重点实验室(兰州交通大学)，甘肃兰州730070，甘肃兰州730070 |
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| 基金项目： | 甘肃省自然科学基金资助项目(2GS045-B52-009) |
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| 摘 要： | 针对多变量、非线性的倒立摆系统,设计了双闭环解耦切换模糊控制.在该方法中,对双闭环参数耦合实现了解耦,使角度环控制倒立摆的角度,位置环控制倒立摆小车的位置,降低了系统设计的难度和复杂度.最后,用MATLAB语言编写数字仿真程序,对所设计的方案进行数字仿真,仿真结果表明了方案的正确性和有效性.
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| 关 键 词： | 倒立摆 双闭环解耦 切换 模糊控制 |
| 文章编号： | 1001-4373(2007)01-0029-03 |
| 修稿时间： | 2006-05-20 |
Design and Simulation of Double Closed-loop Decoupling Switch Fuzzy Control on Inverted Pendulum |
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| Hou Tao,Niu Hongxia.Design and Simulation of Double Closed-loop Decoupling Switch Fuzzy Control on Inverted Pendulum[J].Journal of Lanzhou Railway University,2007,26(1):29-31. |
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| Authors: | Hou Tao Niu Hongxia |
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| Institution: | 1. School of Automation and Electrical Engineering, Lanzhou Jiaotong University, Lanzhou 730070,China; 2. Key Laboratory Opto-Eleetronie Technology and Intelligent Control,Ministry of Education, Lanzhou Jiaotong University, Lanzhou 730070,China |
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| Abstract: | The double closed-loop fuzzy control is designed on the multi-variable and nonlinear inverted pendulum.In this approach,the control framework is designed to switch the fuzzy control closed-loop based on the error of angle and displacement,the coupling between angle and displacement is decoupled successfully,and the angle of inverted pendulum is controlled by the angle-loop and the displacement of the small cart is controlled by the displacement-loop.The difficulty and complexity of control system are reduced.The simulation results show the correctness and validity of the control scheme. |
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| Keywords: | inverted pendulum double closed-loop decoupling switch fuzzy control |
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