| 基于TS-PID的单级小车倒立摆控制系统 |
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| 引用本文： | 潘笑,张磊,黄冬兰,韩伟. 基于TS-PID的单级小车倒立摆控制系统[J]. 微计算机信息, 2007, 23(10): 4-5 |
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| 作者姓名： | 潘笑 张磊 黄冬兰 韩伟 |
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| 作者单位： | 430072,湖北武汉,武汉大学动力与机械学院自动化系 |
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| 摘 要： | 提出了利用TS-PID对单级小车倒立摆进行控制的方法,并且对TS-PID控制器进行了简要的理论分析,最后利用mat-lab的simulink工具对该控制系统进行了仿真,其结果表明该控制方法可行且效果明显。TS-PID控制器综合了模糊控制及PID控制的优点,具有结构简单、易于实现以及具有较强的适应性和鲁棒性,并且可以获得良好的动态性能和稳态性能。
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| 关 键 词： | 倒立摆 TS-PID 模糊控制 PID控制 复合控制 |
| 文章编号： | 1008-0570(2007)04-1-0004-02 |
| 修稿时间： | 2007-02-13 |
Inverted Pendulum Control System Based on TS-P/D |
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| PAN XIAO,ZHANG LEI,HUANG DONGLAN,HAN WEI. Inverted Pendulum Control System Based on TS-P/D[J]. Control & Automation, 2007, 23(10): 4-5 |
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| Authors: | PAN XIAO ZHANG LEI HUANG DONGLAN HAN WEI |
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| Affiliation: | PAN XIAO ZHANG LEI HUANG DONGLAN HAN WEI |
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| Abstract: | Proposed the TS-PID control method to control the inverted pendulum system, and carried on the brief theoretical analysis to the TS-PID controller. Finally carried on the simulation using the matlab simulink tool to this control system, and the result indi-cated this control method is feasible and the effect is obvious. The TS-PID controller synthesized the fuzzy control and the PID con-trol merits, has the structure simple, easy to realize as well as to have the strong compatibility and robustness, and may obtain the good dynamic performance and the stable state performance. |
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| Keywords: | Invert Pendulum TS-PID Fuzzy Control PID Control Compound Control. |
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