摘要
针对自平衡机械系统的研究很少着眼于速度控制,设计一种简单的模糊控制器,应用于一级直线倒立摆的匀速行走控制中。对于设定的速度整定值,通过调整几个比例环节的系数,系统具有很好的动态性能指标,而且控制器在有外界扰动时体现了很好的抗扰能力。考虑到实际物理系统中倒立摆行程的限制,设计的自动切换开关实现了倒立摆在一段给定的行程上匀速来回行走的控制目标,通过手动切换开关也能实现倒立摆的位置控制,因而使得该模糊控制器能完成平衡控制、位置控制、匀速行走控制。经多次试验,给出了比例环节系数大小调整与系统动态性能指标之间关系的大致规律,实验结果验证了该控制器的有效性。
Currently most researchers of the self-balancing mechanical system is discussed. A simple fuzzy controller is designed to a- chieve uniform-velocity walking of the linear one-stage inverted pendulum. Given the preset value of its velocity, the inverted pendulum shows a good dynamic performance by varying several gain parameters, and its robustness behaves also well. Due to the trajectory limitation of the real inverted pendulum system, an automatic switch and a manual switch are desiqned, which realize the three tasks： angle control, position control and uniform-velocity - walking control. The correlation between the gain parameters and the system dynamic performance is also given. The experiment result shows the effectiveness of the controller.
出处
《控制工程》
CSCD
北大核心
2009年第4期481-484,共4页
Control Engineering of China
基金
国家863计划基金资助项目(2007AA04Z226)
国家自然科学基金资助项目(60774077)
北京市属市管高等学校人才强教计划基金资助项目(05002011200506)
关键词
匀速行走
模糊控制
倒立摆
uniform-velocity walking
fuzzy control
inverted pendulum
