【作者】 汪涛；

【导师】 张晓江；

【作者基本信息】 合肥工业大学 ， 控制理论与控制工程， 2004， 硕士

【摘要】 倒立摆是一个典型的快速、多变量、非线性、本质不稳定系统，对倒置系统的研究在理论上和方法论上具有着深远的意义。对倒立摆的研究可以归结为对非线性、多变量、不稳定系统的研究。论文以模糊控制理论为基础，采用了模糊控制中的Mamdani模糊推理系统，对倒立摆的各个变量进行控制，并且利用自适应神经网络对模糊控制规则进行了训练，最后将控制过程在MATLAB上加以仿真。本论文的主要研究内容如下： 1．综述了倒立摆系统研究的历史，分析了倒立摆的研究现状和国内外对倒立摆系统研究近十年的进展和取得的成果，并且介绍了针对倒立摆系统的各个控制方法。 2．介绍了倒立摆的结构和在工程实际中的应用，并对倒立摆模型进行建模，推导出了倒立摆模型的状态空间表达式。 3．讲述了模糊控制理论的基本原理及其应用。主要叙述了模糊控制理论的发展历史和应用，并对模糊控制的数学基础和基本理论作了详尽的阐述。 4．着重介绍了模糊控制系统和模糊控制器。分析了模糊控制系统和模糊控制器的组成和特点，并对模糊控制器的设计方法提供了具体的步骤。 5．对神经网络进行了详细地阐述，着重介绍了BP算法。 6．采用MATLAB仿真软件的FIS Editor来建立模糊控制器，并利用神经网络对模糊控制器的规则进行了训练，最后利用Simulink建立系统的结构图来实现对倒立摆系统的控制，采用了示波器Scope对倒立摆的各个变量进行了波形的显示，直观地显示了控制的效果。更多还原

【Abstract】 Inverted pendulum is a typical model of multivariable, nonlinear, essentially unsteady system, and researching inverted system has the profound meaning in theory and methodology. Researching on inverted pendulum can boil down to the research on nonlinear, multi-variable unsteady system. The article is based on the fuzzy control theory. It controls all the variables in the inverted pendulum with the use of Mamdani FIS and use adaptive neural network to exercise fuzzy control rules. And then it simulates the control process in MATLAB software. The main research contents of this article are as follows:Firstly, it gives a review on the research history of inverted pendulum system. It analyzes the improvement and productions on inverted pendulum system in the last ten years around the world. And it also introduces many control ways on inverted pendulum system.Secondly, it introduces the structure of the inverted pendulum and its application in engineering practice. It establishes the model of the inverted pendulum and deduces the state-space expression of the model.Thirdly, It narrates the basic theory and the application of fuzzy control theory. It introduces the developing history and the application and gives a detailed discuss on the mathematic base and the basic theory of the fuzzy control.Fourthly, it puts stress on the fuzzy control system and fuzzy controller. It analyzes the composing and the features of the fuzzy control system and it provides material steps for fuzzy controller.Fifthly, it introduces the basic theory of neural network and it puts stress on the BP computing ways.Sixthly, it establishes the fuzzy controller with FIS editor in MATLAB software. And it use neural network to exercise the rules of the fuzzy controller. Finally it uses Simulink to establish structure chart of the system in order to control the inverted pendulum system. It uses Scope block to display the wave of all kinds of variables in inverted pendulum system and the effect of the control can be easily seen.更多还原