摘要
研制出一种低成本、高可靠性和高稳定性的倒立摆硬件系统,同时提出一种专家模糊控制策略以及基于Matlab的实时控制途径。采用模糊组合变量来减少模糊规则数,并根据摆角来选择不同模糊规则库从而提高控制性能。用Matlab实现的控制算法在对倒立摆的实验中表现出很好的实时控制性能。
The hardware of an inverted pendulum system was developed with low-cost and high reliability and stability, meanwhile, a novel expert fuzzy control scheme and the Matlab-based real-time control approach was proposed.The number of fuzzy control rules was significantly reduced by combining related variables,and the control performance was greatly improved by adopting suitable rule-base according to the angle of the pole with the vertical.The proposed control scheme was implemented in Matlab and showed good performance in the real-time fuzzy control of the developed inverted pendulum.
出处
《国外电子元器件》
2007年第6期38-42,共5页
International Electronic Elements
基金
湖北省自然科学基金资助项目(2006ABA056)
