| 基于LQR的二级倒立摆模糊控制 |
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| 引用本文： | 丁莉芬,安小宇,韩晓峰,宋寅卯,姜利英. 基于LQR的二级倒立摆模糊控制[J]. 煤矿机械, 2009, 30(9) |
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| 作者姓名： | 丁莉芬 安小宇 韩晓峰 宋寅卯 姜利英 |
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| 作者单位： | 1. 郑州轻工业学院,电气信息工程学院,郑州,450002
2. 郑州市自来水总公司,郑州,450007 |
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| 摘 要： | 针对非线性、多变量、不稳定的二级倒立摆系统,提出基于LQR最优控制设计模糊控制器。利用信息融合技术降低了模糊控制器的维数,因而简化了多变量模糊控制器的设计过程。仿真结果表明,这种控制器不但结构简单,而且具有很好的控制效果。
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| 关 键 词： | 模糊控制 倒立摆 信息融合 LQR |
Fuzzy Control of Double Inverted Pendulum Based LOR |
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| DING Li-fen,AN Xiao-yu,HAN Xiao-feng,SONG Yin-mao,JIANG Li-ying. Fuzzy Control of Double Inverted Pendulum Based LOR[J]. Coal Mine Machinery, 2009, 30(9) |
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| Authors: | DING Li-fen AN Xiao-yu HAN Xiao-feng SONG Yin-mao JIANG Li-ying |
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| Abstract: | For the double inverted pendulum which is a nonlinear and strong-complying system,a fuzzy controller based on LQR optimal control theory is introduced.Using information fusion,input varieties’ dimensions of the fuzzy controller are depressed which simplified the design of multi-variety fuzzy controller.Simulation and experiment prove that the fuzzy controller has a simple structure and give good control performance. |
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| Keywords: | LQR |
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