| 模糊变结构控制的旋转倒立摆系统设计 |
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| 引用本文： | 卢秀和,关洪亮,郭志伟,杜东礼.模糊变结构控制的旋转倒立摆系统设计[J].微计算机信息,2007,23(34):60-62. |
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| 作者姓名： | 卢秀和 关洪亮 郭志伟 杜东礼 |
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| 作者单位： | 长春工业大学,长春,130012 |
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| 基金项目： | 吉林省科委社会发展项目（20060402） |
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| 摘 要： | 本文针对非线性、多变量、强耦合的旋转倒立摆系统，利用模糊控制与滑模变结构控制相结合设计了一种模糊变结构控制器．该控制器既保持了滑模变结构控制的快速性和鲁棒性，又能较好地消除单纯采用滑模变结构所产生的抖振问题。仿真结果表明，模糊变结构控制算法能够实现倒立摆的平衡姿态控制，抖振现象基本消除且具有很强的鲁棒性。
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| 关 键 词： | 旋转倒立摆 模糊变结构控制器 抖振 平衡姿态控制 |
| 文章编号： | 1008-0570（2007）12-1-0060-03 |
| 修稿时间： | 2007-09-03 |
Design of Rotation Inverted-pendulum System Based on Fuzzy Variable Structure Control |
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| LU XIUHE,GUAN HONGLIANG,GUO ZHIWEI,DU DONGLI.Design of Rotation Inverted-pendulum System Based on Fuzzy Variable Structure Control[J].Control & Automation,2007,23(34):60-62. |
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| Authors: | LU XIUHE GUAN HONGLIANG GUO ZHIWEI DU DONGLI |
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| Affiliation: | Changchun University Of Technology JiLin Changchun 130012 |
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| Abstract: | A Fuzzy Variable Structure Controller was designed which combines fuzzy controll and variable structure controll for nonlinear,multi-variable,unmatched disturbance rotational inverted pendulum system,the controller not only keeps sensibility and robust- ness of VSC but also can efficiently reduce chattering which generated by VSC.The result of simulation shows that can realize the blancing controll, chattering phenomenon reduced essentially and have good robusness. |
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| Keywords: | rotational pendulum fuzzy variable couller chatter balancing control |
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