模糊控制在二级倒立摆系统中的应用

针对倒立摆系统的非线性、不稳定的控制问题,推导了二级倒立摆系统的数学模型和状态空间表达式,对倒立摆系统在平衡点附近进行了可控性分析,提出了一种基于模糊控制器进行控制的方法,建立了相应的控制规则。实验结果表明,该系统具有鲁棒性、稳定性好的特点。

Application of Fuzzy Controller in Double Inverted Pendulum System

The inverted pendulum is a nonlinear and unstable system.The paper derives the model of the double inverted pendulum and the state-space expression.The controllability of the double inverted pendulum system is discussed at its balanced points.A control mode based on fuzzy controller is presented,and the corresponding rule is established.At last,the real-time control of the controller is designed.Experimental results show that system has robustness,strong stability.