摘要
基于两轮自平衡小车平台,针对目前模糊控制和自适应控制结合较少,实物验证缺乏的问题,应用仿真对比、实物验证的方法,对设计的模糊自适应控制器的稳定性和有效性进行了理论上的分析,证明了模糊自适应算法的可行性。通过在相同的初始条件和控制结构下进行仿真实验,并对仿真结果的角度、角速度两个跟踪指标与预设函数进行了对比分析。最后用实物实验进行了验证,得出了“糊自适应算法能实时地对未知外部干扰和建模不确定性进行自适应模糊补偿”这一结论,对以后欠驱动系统的控制具有一定的参考价值。
It is based on theSelf-balancing Two-wheeled cart system,In view of the lack of the combination of fuzzy and adaptive control and the absence of physical verification,the stability and effectiveness of the designed fuzzy adaptive controller are analyzed theoretically by means of the simulation contrast and the physical verification,thus the feasibility of the fuzzy adaptive algorithm was proved.Through the simulation experiment under the same initial condition and control structure,the two tracking indexes(the angle and the angular velocity)of the simulation results are compared with the presupposed functions.Finally,the conclusion is drawn that the adaptive fuzzy adaptive algorithm can make adaptive fuzzy compensation to the unknown external interference and modeling uncertainty in real time,which has a certain reference value for the control of the underactuated system.
作者
韩帅
刘满禄
张俊俊
张华
HAN Shuai;LIU Man-lu;ZHANG Jun-jun;ZHANG Hua(Special Environment Robotics Laboratory of Sichuan Province,Southwest University of Science and Technology,Sichuan Mianyang621010,China)
出处
《机械设计与制造》
北大核心
2020年第9期197-200,共4页
Machinery Design & Manufacture
基金
国家“十三五”核能开发科研项目资助([2016]1295)。
关键词
自平衡小车
模糊自适应
跟踪实验
实物验证
Self-Balancing Cart
Fuzzy Adaptive
Tracking Experiment
Physical Verification
