板球系统的模糊控制方法研究

板球系统是一个典型的多变量、非线性控制系统，是杆球系统的扩展，用以检测各种控制方案。该文针对板球系统的定点稳定问题，首先提出了T—S模糊控制方案，仿真结果较好，但实物系统的试验却发现球在稳定点附件振荡、难以稳定、超调大；针对此缺点，在T—S模糊控制方案的基础上，提出变论域自适应模糊控制方案，仿真结果表明控制性能得到明显改善，且越是靠近稳定点效果越明显，体现了变论域自适应模糊控制方法具有精度高、无振荡、几乎无超调的特点。实物系统的试验结果也表明，变论域自适应模糊控制方案比T—S模糊控制方案的效果要好。

Fuzzy Control Method for Ball and Plate System

Ball and plate system is a typical multi - variable plant, which is the extension of the traditional ball and beam problems. It is put forward to inspect diverse control schemes. T - S fuzzy control scheme is introduced firstly for the stabilization problem at the designed point for the ball and plate system. The simulation result is fine, but the experiment result of the real system shows that the disadvantages are evident, such as oscillation, overshooting. To solve the above mentioned problems, adaptive fuzzy control scheme based on variable universe is introduced ground on T - S fuzzy control scheme. The simulat/on result shows that the performance is improved, especially near the stabilizaion point, which embodys the nice characters of the adaptive fuzzy control scheme based on variable universe, such as high accuracy, no oscillation and no overshoot.