倒立摆的双闭环选择型模糊控制设计及仿真

针对多变量、非线性、强耦合性的倒立摆系统 ,采用牛顿 -欧拉法建立了其动力学方程 ,并进行了线性化处理 ,得到了状态空间模型 ,并提出一种双闭环选择型模糊控制方案。该方案通过一个选择型开关将两个模糊控制器的工作有机地统一起来 ,实现了摆杆角度与小车位置的双重控制功能 ,而且降低了模糊控制器的设计难度。最后在MATLAB环境下进行了计算机仿真 ,仿真结果表明 ,摆杆角度和小车位置的控制过程均具有良好的动态性能和稳态性能 ,验证了建模的正确性和控制方案的有效性

Design and Simulation of Selective Double Closed - loop Fuzzy Control System for Inverted Pendulum

The Newton-Euler method was used to derive the dynamic equations, and the state space equations were obtained with linearization method for multivariable, nonlinear strongly-coupling inverted-pendulum system. The selective double closed-loop fuzzy control scheme was proposed. With the help of the control scheme, a selective switch integrated two fuzzy controllers, and it was easier to design the fuzzy controller, and the pendulum angle and cart position were controlled synchronously. In the programming environment of MATLAB 6.5, the computer simulation was finished, and the controlled system had good performance. The simulation results showed the correctness of modeling and the validity of control scheme.