| 基于T-S模糊模型的倒立摆 |
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| 引用本文： | 王雪延.基于T-S模糊模型的倒立摆[J].电子科技,2015,28(3):58-60. |
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| 作者姓名： | 王雪延 |
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| 作者单位： | (西安电子科技大学 电子工程学院,陕西 西安 710071) |
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| 摘 要： | 用牛顿力学方法建立了直线一级倒立摆的非线性数学模型,并基于倒立摆系统的状态方程,用Matlab对系统进行定性分析。采用极点配置法、LQR设计了控制器,并分析了参数对系统控制的影响。针对倒立摆的非线性,研究了非线性控制方法中变结构控制的基本思想,并设计了控制器。
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| 关 键 词： | 倒立摆 极点配置 LQR 非线性 |
Inverted Pendulum System Based on T-S Fuzy Model |
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| WANG Xueyan.Inverted Pendulum System Based on T-S Fuzy Model[J].Electronic Science and Technology,2015,28(3):58-60. |
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| Authors: | WANG Xueyan |
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| Institution: | (School of Electronic Engineering,Xidian University,Xi'an 710071,China) |
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| Abstract: | In this paper a nonlinear mathematic model for linear single IPS is built,taking advantage of classical mechanics.We use Matlab to qualitatively analyze the system based on equations of motion for the IPS.The controller is designed by pole assignment and LQR,and the effects of all parameters on the system control are evaluated.Given the nonlinear property of the IPS,we study the principles in variable structure control (VSS) among nonlinear controlling approaches,and design the controller. |
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| Keywords: | inverted pendulum pole assignment LQR nonlinear system |
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