Welcome

Anti Essays offers essay examples to help students with their essay writing.

Sign Up

基于模糊控制的倒立摆自起摆研究 Essay

  • Submitted by: zlove1990
  • on January 8, 2013
  • Category: Psychology
  • Length: 938 words

Open Document

Below is an essay on "基于模糊控制的倒立摆自起摆研究" from Anti Essays, your source for research papers, essays, and term paper examples.

北京石油化工学院 学位论文电子版授权使用协议
论文《 基于模糊控制的倒立摆自起摆研究 》系本人在北京石油化工学院学 习期间创作完成的作品,并已通过论文答辩。 本人系作品的唯一作者,即著作权人。现本人同意将本作品收录于“北京石 油化工学院学位论文全文数据库”。本人承诺:已提交的学位论文电子版与印刷 版论文的内容一致,如因不同而引起学术声誉上的损失由本人自负。 本人完全同意本作品在校园网上提供论文目录检索、 文摘浏览以及全文部分 浏览服务。公开级学位论文全文电子版允许读者在校园网上浏览并下载全文。 注:本协议书对于“非公开学位论文”在保密期限过后同样适用。

院系名称:信息工程学院自04-1班 作者签名: 张 虓 学 号: 040962 2008 年 6 月 15 日

基于模糊控制的倒立摆自起摆研究





倒立摆系统是一个典型的单输入多输出,非线形、高阶次的不稳定系统。当 前控制倒立摆自起摆的方法主要有 PID、LQR、状态反馈和模糊控制等方法,其中 模糊控制法是实时性好,鲁棒性强,具有很高的控制精度,故本文基于该方法对 倒立摆自起摆进行研究。 本文采用牛顿力学分析法对倒立摆系统进行机理建模,根据模糊控制法的基 本原理, 在模糊控制器设计时分别采用最大-最小合成运算和重心法进行模糊化及 去模糊化。通过对系统的 SIMULINK 仿真,逐步对隶属度函数及模糊控制规程库 进行了调试,分别得出了角度、角速度和电机输出电压的最佳隶属度函数及控制 规程,使得摆杆只需摆动三次即可摆至垂直向上位置。通过对各个比例因子的调 试,将控制精度进一步提高,使得摆杆在第三次摆起且角速度减小至零时,摆角 进入到与垂直向上位置夹角在正负五度的范围内。 因此在模糊控制器的设计时,只要合理地设计变量的隶属度函数和模糊控制 规程,只需控制摆杆的摆角及其角速度即可成功实现小车-倒立摆系统的起摆。

关键词:

一级倒立摆,自起摆控制,模糊控制

-I-

基于模糊控制的倒立摆自起摆研究

Abstract
Inverted pendulum is a typical single-input multiple-output, non-linear, high-end instability in the system. Since the current control inverted pendulum has put the main method of PID, LQR, state feedback and fuzzy control methods, including real-time fuzzy control law which is good, robust and strong with very high precision control, the paper is based on the method of inverted, since the pendulum has placed research. In this paper, Newton's mechanics analysis of the inverted pendulum system of modeling, based on fuzzy control of the basic principles of the fuzzy controller design were used the most - the smallest of computing and fuzzy focus of the law and to blurred. SIMULINK through the simulation of the system, and gradually the membership function and fuzzy control order for a debugging, respectively, come to the point of view, angular velocity and the electrical output voltage of the best membership function and control of order, make-just swinging pendulum that is three times can put up to the vertical position. Finally, the proportion of all the tests will further enhance the control accuracy....

Show More


  • Submitted by: zlove1990
  • on January 8, 2013
  • Category: Psychology
  • Length: 938 words
  • Views: 563
  • Popularity Rank: 96922
  • 1 rating(s)

Citations

MLA Citation

"基于模糊控制的倒立摆自起摆研究". Anti Essays. 14 Dec. 2018

<http://parimatch-stavka7.com/free-essays/Ji-Yu-Mo-Hu-Kong-Zhi-De-Dao-Li-Bai-Zi-Qi-Bai-Yan-Jiu-384351.html>

APA Citation

基于模糊控制的倒立摆自起摆研究. Anti Essays. Retrieved December 14, 2018, from the World Wide Web: http://parimatch-stavka7.com/free-essays/Ji-Yu-Mo-Hu-Kong-Zhi-De-Dao-Li-Bai-Zi-Qi-Bai-Yan-Jiu-384351.html


Greg Beato: Amusing Ourselves to Depth | Più cari | Montantes e titulares