摘要
对非线性、强耦合和绝对不稳定的二级倒立摆进行了运动分析,并针对实验用的二级倒立摆,建立了其运动的状态方程.根据实验中运动的特点,提出了基于T-S模型的模糊控制,取得了较好的控制效果.
The movement of nonlinear,strongly coupled and absolutely unstable double inverted pendulum systems are analysed in the paper.The state equation of the double inverted pendulum for experiment is established based on its dynamic characteristics.Afterwards,a fuzzy control method based on T-S model is proposed and good control effect is achieved.
出处
《北京建筑工程学院学报》
2009年第1期34-37,共4页
Journal of Beijing Institute of Civil Engineering and Architecture
