【作者】 张龙；

【导师】 嵇启春；

【作者基本信息】 西安建筑科技大学 ， 计算机应用技术， 2008， 硕士

【摘要】 倒立摆系统是一个非线性自然不稳定系统,是验证各种控制理论和方法有效性的典型理想模型,许多抽象的控制概念如控制系统的稳定性、系统收敛速度等,都可以通过倒立摆系统直观的表现出来。最近几年一直是控制领域研究的热点。对倒立摆系统的研究不仅具有很重要的理论意义,而且在航天科技和机器人学等领域中也有现实指导性意义。本文以二级直线倒立摆模型为控制对象,首先阐述了倒立摆稳定控制的研究现状以及倒立摆系统的控制系统及机械结构组成。在介绍当前建立数学模型的基础上,重点分析基于Lagrange方程进行数学模型的方法,并以二级摆为例详细推导了系统的数学模型建立过程,并对其系统性能作了简要分析。其次,本文重点研究了模糊控制理论对倒立摆系统的稳定控制。在第三章中,利用极点配置、LQR最优控制理论设计了控制器,通过仿真实现稳定控制,分析指出两种方法设计控制器的优缺点。接着提出针对倒立摆稳定控制的新的控制算法:模糊控制。在模糊控制过程中,为了降低模糊控制器的输入变量维数,避免规则爆炸问题,提出了构造融合函数进行降低控制器维数。在此基础上设计了基于信息融合的模糊控制器,在仿真的基础上进行了实验分析,最后经过实物验证,二级倒立摆的成功稳定控制进一步说明了本文所设计的二级倒立摆的稳定模糊控制器具有很好的稳定性。为了进一步提高控制性能,文章尝试在单模糊控制器基础上根据主元的选择不同,设计了基于信息融合技术的双模糊控制器,并对其进行仿真分析。结论部分对论文的工作内容作了整体回顾,指出所取的一些成果,同时也表明文章的不足,提出了日后努力的方向。更多还原

【Abstract】 The inverted pendulum system is a typically a ideal model for proving the effectiveness of new control theory and its method stability. In the controlling process, it can effectively reflect many key problems such as stability and tracking in control and so on. In resent years, always is a study hotspot in control field. Studying on inverted pendulum not only has a very important theory significance, but also has a realistic directory meaning in aerospace science and technology and robotics.The linear double inverted pendulum model as control object was selected. The present research condition both of the inverted pendulum stable control and the composition of the control system and the machine structure were firstly described. Based on introducing the present established mathematical model, the method of the mathematical model was done by analyzing the Lagrange equation. As an example of the double inverted pendulum, its mathematical model establishing process was derived in particulars. And, the system characteristic was briefly analyzed.Then, the control methods of inverted pendulum system based on fuzzy control theories were mainly discussed. The pole-placement method, LQR optimizing control were firstly designed to stabilize the double inverted pendulum. The advantages and disadvantages of these controllers were pointed out. For advising the rule explosion in designing fuzzy controller, a fuzzy controller based on blend function was put forward. Its performance was analyzed through simulation. In the end, the success of control of hardware pendulum system proves that these controllers have very good stability.So as to enhance control quality, In this paper choice to design the fuzzy controller by different principal component of blend function. It designed a double-fuzzy controller which is analyzed its performance through simulating.At the end of the paper, the significance of the research and the key point for study in the future were given.更多还原