摘要
本文在倒立摆系统的非线性动力学数学模型基础上,设计了一种自适应模糊 PID 控制器,对 PID 参数进行动态整定,并对一级倒立摆系统进行了控制研究。通过 Simulink 仿真实验表明,与传统 PID 控制方法相比较,其响应速度和超调量等性能指标得到显著改善。
On the basis of nonlinearity kinetics mathematical model of the single-inverted pendulum system, a self-adaptive fuzzy-PID control method is designed, which can dynamically adjust the PID＇s parameters. This method can he used to control the single-inverted pendulum system. The Simulink simulation experiments show there are some improvements in the response speed and overshot, compared with conventional PID control method.
出处
《深圳信息职业技术学院学报》
2005年第4期41-44,共4页
Journal of Shenzhen Institute of Information Technology
