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| 非线性旋转倒立摆智能控制的实验研究 | |
| 引用本文： | 贺占武,贺敏佳,刘爽.非线性旋转倒立摆智能控制的实验研究[J].机械设计与制造,2009(8). |
| 作者姓名： | 贺占武 贺敏佳 刘爽 |
| 作者单位： | 1. 燕山大学机械工程学院,秦皇岛,066004 2. 燕山大学里仁学院,秦皇岛,066004 3. 燕山大学工业计算机控制工程河北省重点实验室,秦皇岛,066004 |
| 基金项目： | 河北省自然科学基金资助 |
| 摘 要： | 应用欧拉一拉格朗日原理建立旋转倒立摆系统非线性、多变量耦合的动力学方程,采用梯度下降和最小二乘混合学习算法将神经网络和模糊控制相结合,得到一种具有自适应、自学习能力的模糊神经网络智能控制器,该控制器在SRV02-Series旋转倒立摆实验平台上取得成功应用. |
| 关 键 词： | 旋转倒立摆 模糊神经网络 混合学习算法 实验平台 |
Experiment research on nonlinear rotary inverted pendulum based on artificial intelligent control algorithm |
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| HE Zhan-wu,HE Min-jia,LIU Shuang.Experiment research on nonlinear rotary inverted pendulum based on artificial intelligent control algorithm[J].Machinery Design & Manufacture,2009(8). | |
| Authors: | HE Zhan-wu HE Min-jia LIU Shuang |
| Affiliation: | 1College of mechanical engineering;Yanshan University;Qinhuangdao 066004;China;2College of Liren;China;3Key Lab of Industrial Computer Control Engineering of Hebei Province;China |
| Abstract: | According to Euler-Lagrange theory,the dynamic equations of rotary inverted pendulum were given,which were nonlinear,multi-variable and strongly coupled.The fuzzy neural network controller was proposed that has the abilities of self-adapting and self-learning,with aid of gradient descent and least square,and this controller was successfully applied to the SRV02-Series experiment plant for rotary inverted pendulum. |
| Keywords: | Rotary inverted pendulum Fuzzy neural network Mixed study algorithm Experiment plant |
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