模糊變結(jié)構(gòu)控制的旋轉(zhuǎn)倒立擺系統(tǒng)設(shè)計(jì)
時(shí)間:2008-11-04 13:41:00來(lái)源:ronggang
導(dǎo)語(yǔ):?本文針對(duì)非線性、多變量、強(qiáng)耦合的旋轉(zhuǎn)倒立擺系統(tǒng),利用模糊控制與滑模變結(jié)構(gòu)控制相結(jié)合設(shè)計(jì)了一種模糊變結(jié)構(gòu)控制器
摘 要:本文針對(duì)非線性、多變量、強(qiáng)耦合的旋轉(zhuǎn)倒立擺系統(tǒng),利用模糊控制與滑模變結(jié)構(gòu)控制相結(jié)合設(shè)計(jì)了一種模糊變結(jié)構(gòu)控制器,該控制器既保持了滑模變結(jié)構(gòu)控制的快速性和魯棒性,又能較好地消除單純采用滑模變結(jié)構(gòu)所產(chǎn)生的抖振問(wèn)題。仿真結(jié)果表明,模糊變結(jié)構(gòu)控制算法能夠?qū)崿F(xiàn)倒立擺的平衡姿態(tài)控制,抖振現(xiàn)象基本消除且具有很強(qiáng)的魯棒性。
關(guān)鍵詞:旋轉(zhuǎn)倒立擺,模糊變結(jié)構(gòu)控制器,抖振,平衡姿態(tài)控制
Abstract:A Fuzzy Variable Structure Controller was designed which combines fuzzy controll and variable structure controll for nonlinear、multi-variable、unmatched disturbance rotational inverted pendulum system,the controller not only keeps sensibility and robustness of VSC but also can efficiently reduce chattering which generated by VSC.The result of simulation shows that can realize the blancing controll,chattering phenomenon reduced essentially and have good robusness.
Keywords:rotational pendulum,fuzzy variable conller,chatter,balancing control.
0.引言
旋轉(zhuǎn)式倒立擺相比傳統(tǒng)的小車式倒立擺而言,在硬件上減少了傳動(dòng)機(jī)構(gòu),使其更簡(jiǎn)便,更牢固。同時(shí),該裝置也更加復(fù)雜、更具有非線性和不穩(wěn)定性,增加了控制的難度。迄今為止已有許多控制理論應(yīng)用于倒立擺的研究之中,如經(jīng)典控制理論、PID控制、模糊控制、神經(jīng)網(wǎng)絡(luò)控制、遺傳算法、變結(jié)構(gòu)控制以及多模型模糊控制等,本文則是采用以極點(diǎn)配置為基礎(chǔ)設(shè)計(jì)的一種模糊變結(jié)構(gòu)控制器,實(shí)現(xiàn)旋轉(zhuǎn)單支點(diǎn)倒立擺的穩(wěn)態(tài)控制。
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模糊變結(jié)構(gòu)控制的旋轉(zhuǎn)倒立擺系統(tǒng)設(shè)計(jì)