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三级倒立摆作为高阶次、多变量、非线性、强耦合的不稳定系统,不易对其进行有效控制。在基本模糊控制器基础上,设计了一种参数自适应模糊PI控制器。即通过LQR(Linear Quadratic Regulator)最优控制理论方法,确定出融合函数,降低了模糊控制器的输入维数,减少了控制器规则数。经过参数修正模糊控制器,实现参数自适应调整,提高了系统控制性能。通过SIMULINK仿真及对比,结果显示,系统能在较短时间内达到稳定,控制效果、稳定性及鲁棒性均较好,能满足系统要求。
As a high-order, multivariable, nonlinear and strongly coupled unstable system, the three-stage inverted pendulum is not easy to control effectively. Based on the basic fuzzy controller, a parameter adaptive fuzzy PI controller is designed. That is, through LQR (Linear Quadratic Regulator) optimal control theory, the fusion function is determined, the input dimension of the fuzzy controller is reduced, and the number of controller rules is reduced. After the parameters of the fuzzy controller to achieve adaptive adjustment parameters to improve the system control performance. The results of SIMULINK simulation and comparison show that the system can be stabilized in a short period of time, the control effect, stability and robustness are good, which can meet the system requirements.