[1]赵潇菲,张井岗.柔性倒立摆的模糊控制算法[J].智能系统学报,2010,5(4):347-352.
ZHAO Xiao-fei,ZHANG Jing-gang.A fuzzy control method for flexiblejoint inverted pendulums[J].CAAI Transactions on Intelligent Systems,2010,5(4):347-352.
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ZHAO Xiao-fei,ZHANG Jing-gang.A fuzzy control method for flexiblejoint inverted pendulums[J].CAAI Transactions on Intelligent Systems,2010,5(4):347-352.
柔性倒立摆的模糊控制算法
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
5
期数:
2010年第4期
页码:
347-352
栏目:
学术论文—智能系统
出版日期:
2010-08-25
- Title:
- A fuzzy control method for flexiblejoint inverted pendulums
- 文章编号:
- 1673-4785(2010)04-0347-06
- Keywords:
- linear singlestage flexiblejoint inverted pendulum; fuzzy controller; fusion function; fuzzy rule
- 分类号:
- TP273
- 文献标志码:
- A
- 摘要:
- 针对直线柔性一级倒立摆多变量的特性，提出了基于融合函数的模糊控制算法，解决了“规则爆炸”问题.利用最优控制理论计算出使系统稳定的反馈增益矩阵，由反馈增益矩阵构造融合函数，由此减少了模糊控制器的输入变量维数.仿真和实际实验结果证明该方案的有效性和正确性.
- Abstract:
- Modeling of a linear singlestage flexiblejoint inverted pendulum involves multiple interacting variables. A novel fuzzy control method was proposed that would solve the rule explosion problem by applying a fusion function. The feedback gain matrix, which makes the system stable, was calculated using optimal control theory. Then the fusion function was constructed with a feedback gain matrix which reduced the dimensions of variables passed to the fuzzy controller. Simulations and practical experiments were conducted. The results showed the validity and correctness of the method.
- 参考文献/References:
-
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ZHANG Naiyao, EBERT C, BELSCHNER R， STRAHL H. Fuzzy cascade control of inverted pendulum［J］.Control and decision, 1996, 11(1): 85-88.
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［3］宋西蒙.倒立摆系统LQR模糊控制算法研究［D］. 西安：西安电子科技大学，2006.
SONG Ximeng. LQR&fuzzy control algorithm of inverted pendulum system［D］. Xi’an：Electronics Science and Technology University, 2006.
［4］李岩，姚旭东.二级倒立摆控制系统分析［J］.沈阳工业学院学报，1999,18(2):86-92.
LI Yan, YAO Xudong. Analysis of double inverted pendulum control system［J］. Transactions of Shenyang Ligong University, 1999, 18(2): 86-92.
［5］丛爽,张冬军,魏衡华.单级倒立摆三种控制方法的对比研究［J］.系统工程与电子技术,2001,23(11): 47-49.
CONG Shuang, ZHANG Dongjun, WEI Henghua. Comparative study on three control methods of the single inverted pendulum system［J］. Systems Engineering and Electronics， 2001, 23(11): 47-49.
［6］洪旭.倒立摆系统模糊控制算法研究［D］.西安：西安电子科技大学,2005.
HONG Xu. Fuzzy control algorithm of Inverted pendulum system［D］. Xi’an：Xi’an Electronics Science and Technology University, 2005
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YANG Shiyong, WANG Peijin, XU Liping. Fuzzy control of an inverted pendulum［J］.Control Theory and Applications, 2007， 26(7): 10-12.
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备注/Memo
收稿日期：2009-11-02.
通信作者：赵潇菲.E-mail:feina0817@163.com.
作者简介：
赵潇菲，女，1983年生，硕士研究生，主要研究方向为智能控制.
张井岗,男,1965 年生,教授,硕士生导师,主要研究方向为鲁棒控制和智能控制及其应用. 主持和完成国家“九五”攻关项目、山西省自然科学基金项目、山西省青年科学基金项目等多项研究课题,发表学术论文60余篇，其中20余篇被EI、SCI、ISTP检索.
更新日期/Last Update:
2010-09-20