| 基于模糊控制理论的二级倒立摆控制算法 |
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| 引用本文： | 过润秋,洪旭,苏旺旺.基于模糊控制理论的二级倒立摆控制算法[J].西安电子科技大学学报,2006,33(1):111-115. |
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| 作者姓名： | 过润秋 洪旭 苏旺旺 |
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| 作者单位： | 西安电子科技大学机电工程学院,陕西西安710071 |
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| 摘 要： | 采用模糊控制理论研究了二级倒立摆控制问题．运用最优控制方法设计了融合函数以降低模糊控制器的输入变量维数，大大减少模糊控制的规则数，并研究了量化因子对控制效果的影响，通过设置闻值使量化因子可自动调节，进而提高模糊控制器的性能品质．仿真和实验结果都证明这种模糊控制算法规则数少，响应速度快，有良好的稳定性和鲁棒性．
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| 关 键 词： | 二级倒立摆 模糊控制 融合函数 量化因子 |
| 文章编号： | 1001-2400（2006）01-0111-05 |
| 收稿时间： | 2005-02-20 |
| 修稿时间： | 2005-02-20 |
The control arithmetic for the double inverted pendulum ased on the fuzzy control theory |
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| GUO Rui-qiu,HONG Xu,SU Wang-wang.The control arithmetic for the double inverted pendulum ased on the fuzzy control theory[J].Journal of Xidian University,2006,33(1):111-115. |
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| Authors: | GUO Rui-qiu HONG Xu SU Wang-wang |
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| Affiliation: | School of Mechano-electronic Engineering, Xidian Univ., Xi′an 710071， China |
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| Abstract: | The double inverted pendulum is a multivariable, nonlinear, strong-complying system. The fuzzy control theory is introduced to study the controlling problem of the double inverted pendulum in this paper. The dimensions of input varieties of a fuzzy controller are depressed by designing a fusion function using the optimization control theory, and it can reduce the rules of fuzzy greatly. The infection of quantification factors to the effect of control is studied. The quality of the fuzzy controller is improved by adding auto turning quantification factors. Simulation and experiment prove that this fuzzy control arithmetic has the advantages of few rules, fast speed, good stability and good robustness. |
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| Keywords: | double inverted pendulum fuzzy control fusion function quantification factors |
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