摘要
针对直线倒立摆系统,提出了一种优化的快速摆起控制方法和基于ANFIS-PI的稳定控制算法。建立了直线倒立摆系统的数学模型,根据Lyapunov能量反馈思想对基于能量的起摆控制策略进行优化,实现了倒立摆系统的快速起摆实时控制,并从实验角度设计切换控制策略过渡到系统的平衡控制。采用小车跟踪方波信号获取样本数据,引入PI控制器,完成了基于ANFIS-PI稳摆控制器的设计。仿真和实验结果表明,优化后的起摆控制算法显著提高摆杆摆起速度,系统具有较强的鲁棒性,自适应性和动态性能。
A method of the optimized fast swing-up control and stability control based on ANFIS-PI for linear inverted-pendulum is presented.Firstly,the model of linear inverted pendulum system is established.The swing-up control strategy is optimized according to the Lyapunov energy feedback law and the fast swing-up real-time control of the inverted pendulum system is realized.Secondly,the switch control is effectively designed from experimental perspective to achieve the smooth transition of balance control for the system.Thirdly,the sample data is collected by tracking square wave signal.With the introduction of the PI controller the stability control strategy based on ANFIS-PI is designed by training the ample data.The simulation and experimental results illustrate that the speed of the rod swinging up of linear inverted pendulum can be significantly increased by using the optimized swing-up control algorithm without the flying off of the car.And the robustness,adaptability and dynamic performance of the system are also improved.
出处
《机械设计与制造》
北大核心
2013年第5期74-77,共4页
Machinery Design & Manufacture
基金
天津自然科学基金项目重点项目(10JCZDJC22900
10JCZDJC22800)
天津市高等学校科技发展基金计划项目(20100402)
