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针对二级倒立摆系统具有多变量、非线性和强藕合的特性,借助T-S模糊模型研究二级倒立摆系统的模糊建模和模糊控制的问题,提出针对两个不同摆角建立T-S模糊状态空间模型,并设计模糊LQR控制器。与一般的LQR控制对比。仿真结果表明:提出的二级倒立摆的模糊建模和模糊控制方法具有较短的收敛时间和较小的输出振幅。
To solve the problem of fuzzy modeling and fuzzy control of two-stage inverted pendulum system with TS fuzzy model, aiming at the problem of two-stage inverted pendulum system with multivariate, nonlinear and strong coupling, a TS fuzzy state Space model and design fuzzy LQR controller. Contrast with general LQR control. The simulation results show that the proposed fuzzy modeling and fuzzy control method of two-stage inverted pendulum has shorter convergence time and smaller output amplitude.