| 一级倒立摆模糊PID控制器设计 |
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| 引用本文： | 黎君,阎世梁.一级倒立摆模糊PID控制器设计[J].国外电子测量技术,2012,31(4):50-52. |
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| 作者姓名： | 黎君 阎世梁 |
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| 作者单位： | 1. 西南科技大学智能机器人创新实践班 绵阳621010
2. 西南科技大学工程技术中心 绵阳621010 |
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| 基金项目： | 西南科技大学大学生创新基金项目 |
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| 摘 要： | 一级倒立摆是一个典型的非线性、强耦合、多变量的不稳定系统,为了控制它的平衡性,首先对系统进行分析,建立数学模型。然后在模糊PID控制器的设计过程中,分析了模糊PID控制器的控制原理;确定了模糊语言变量和隶属函数;制定了模糊规则和解模糊的方法。最后利用Matlab中的Simulink和Fuzzy工具箱对一级倒立摆模型进行仿真研究。实验结果表明,模糊PID控制器具有很好的控制效果。
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| 关 键 词： | 一级倒立摆 模糊PID Matlab/Simulink |
Design of Fuzzy-PID controller for first-order inverted pendulum |
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| Li Jun
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Yan Shiliang.Design of Fuzzy-PID controller for first-order inverted pendulum[J].Foreign Electronic Measurement Technology,2012,31(4):50-52. |
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| Authors: | Li Jun Yan Shiliang |
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| Affiliation: | 1.Southwest University of science and Technology robot innovation practice class,Mianyang 621010,China;2.Southwest University of science and Technology Engineering techonlogy center,Mianyang 621010,China) |
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| Abstract: | In order to control the balance of the first-order inverted pendulum,which has nonlinear,coupled,multivariable and unstable system,the mathematic model is made through analysing the system,during the process of designing the Fuzzy PID controller,analyze the control theory of the Fuzzy PID controller;determine variables of fuzzy statements and sub-ordinative functions,stipulate the methods of fuzzy rules,and create solutions of the fuzziness.Finally make simulation studies on the first-order inverted pendulum by using Matlab Simulink and Fuzzy toolbox.Experimental results show that the Fuzzy-PID controller has very good control effect. |
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| Keywords: | first-order inverted pendulum Fuzzy-PID Matlab/Simulink |
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