| 二级倒立摆系统的实时稳定控制实验研究 |
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| 引用本文： | 胡阳,王吉芳.二级倒立摆系统的实时稳定控制实验研究[J].计算机仿真,2009,26(9):342-345. |
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| 作者姓名： | 胡阳 王吉芳 |
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| 作者单位： | 北京信息科技大学机电系统测控北京市重点实验室,北京,100192 |
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| 基金项目： | 北京市教委科技计划面上项目(KM200611232012) |
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| 摘 要： | 为实现二级倒立摆系统的实时稳定控制,以深圳固高直线二级倒立摆装置作为控制对象,在MATLAB环境下,利用基于二次型最优控制理论的线性二次型(Linear Quadratic Regulator,LQR)最优控制器,成功实现了该装置的实时稳定控制。为引入新的控制策略,采集二级倒立摆实时控制过程中的LQR控制器数据作为样本,经过自适应神经模糊推理系统(Adaptive Neuro-Fuzzy Inference System,ANFIS)工具箱训练并生成出一种新型模糊神经网络控制器,应用到装置上同样实现了实时平衡。结果表明,新型控制器较LQR控制器控制效果更优,也为成功实现装置的实时平衡提供了一种新的思路和解决方法。
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| 关 键 词： | 二级倒立摆 线性二次型 模糊神经网络 自适应神经模糊推理系统 实时稳定控制关键词: |
Real-time Equilibrium Control Experiment of Double-link Inverted Pendulum |
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| HU Yang,WANG Ji-fang.Real-time Equilibrium Control Experiment of Double-link Inverted Pendulum[J].Computer Simulation,2009,26(9):342-345. |
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| Authors: | HU Yang WANG Ji-fang |
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| Affiliation: | Beijing Key Laboratory of Mechantronic System Measurement and Control;Beijing University of Information Science and Technology;Beijing 100192;China |
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| Abstract: | To realize real-time equilibrium control of double-link inverted pendulum system,a linear double-link inverted pendulum device of Googol Tech is taken as the controlling object. In the environment of MATLAB,a linear quadratic regulator (LQR) controller based on quadratic optimal control theory was applied to the device. And real-time equilibrium control of the system succeeded. In order to introduce new control strategy,the data of the LQR controller were collected during the real-time controlling experimen... |
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