# matlab模糊控制倒立摆控制系统设计仿真

matlab模糊控制倒立摆控制系统设计仿真

l)使用了牛顿力学和Lagrange方程对倒立摆进行数学建模，推导出倒立摆系统传递和状态空间方程。
2)分析了模糊控制理论的数学基础，对模糊控制的方法进行了研究:介绍了模糊子模糊关系和模糊推理等相关知识，在此基础上进一步分析了模糊控制器的结构与组成，确量的模糊化、模糊控制算法设计方法以及输出信息的模糊判决作了进一步的介绍。
4)一级倒立摆系统的控制器设计与仿真:考虑到同时控制倒立摆的四个状态x， ， ， ，必然会使模糊控制规则复杂并且数目庞大(即所谓的规则爆炸)，本文设计了模糊控制器即位置模糊控制器和角度模糊控制器，用这两个模糊控制器进行串联控制，位置模糊控制器控制输出作为一个虚拟角度乘以一个系数与摆杆的实际角度叠加形成一义角，以这个广义角和摆杆的角速度作为输入量输入给角度模糊控制器对摆杆的角度进制;通过matlab的5imulikn实现了倒立摆模糊控制系统的仿真，仿真结果证明:模糊控制仅可以稳定倒立摆系统，还可以使小车定位在特定位置。
5)对于二级倒立摆采用了分层模糊控制的思想，解决了规则爆炸问题，仿真结果显摆杆的控制效果较好。

Abstract
Inverted Pendulum system is a typical multivariable，nonlinear，strong一couPling with fast motion and natural instability system.so the research of inverted Pendulum has many imPortant Realistic meaning in the areas such as，the walking of biPed robot，the Posture adjustment in lauching proeess of  rocket，andthe flying control of helicopter. Many correlative productions have applications in many fields of technology of spaceflight and subject of robot.
Fuzzy conirol theory is introduced to study simulation and the simulation and the controlling
problem in Inverted Pendulum in this PaPer.Sueeess of simulation Proves that the designed fiuzzy controller has very good stability.Main research work is declared below:
l)The Newton mechanics and Lagrange Equation is used to drive the mathematical model of invertedpendulum and the transfer function as well as the state一space equation of inverted pendulum is idedueed.
2）Take a research on matheatical fundament and methods of fuzzy contrl theory:fuzzy subset，fuzzy relations， aswellasfuzzyreasoning，otherrelatedknowledge15introdueed.Basedon that further study on the
Structure and component of controller of single inverted pendulum are made the design method of fuzzy control algorithm and fuzzy output ruling are introduced.
3)The simulation of fuzzy control of inverted pendulurn system.It is introduced how to realize the
Simulation of the inverted pendulum system by the SIMULINK toolbox. Espeeially the MASK paekaging
function enables the simulation model flexibility，which facilitates the simulati on work..
4)Design and simulation for controller of single inverted pendultun:considering simultaneous control four state variables x,  ， ，  definitely makes fuzzy control rules complieated and huge(the
So一called rules explosion).Two fuzzy control design，that is location fuzzy controller and angle fuzzy controller，in tandem control.Take the output of the location fuzzy controller as a virtual angle plus
Aparameter which adds to the real angle of the swing pole to form a generalized angle Take the generalized Angle and the angular velocity as the input into the angle fuzzy controller to control the angle of the swing pole.Simulation experiment of the fuzzy control of inverted pendulum is very well implemented by using MATLAB SIMULINK.The result shows that it not only has quite good stability，but also is able to make the cart of the pendulum moving to the place where it is appointed by us inadvance，along the orhit. 5)The idea of layered fuzzy control solves the problem of rules exposion on double inverted pendulum.Simulation results show the better control effeet.
Keywords:InvertedPendulum，FuzzyControl，FIS，Simulation

http://www.lwfree.cn
从这次设计的名字可知道本次设计主要设计两个方面的内容；一是模糊控制系统：模糊控制系统是智能控制的范畴，主要包括了Mamdani模糊规则控制和Takagi-Sugeno模糊控制模型（简称T-S模型）控制两种形式，适用于难以建立解析数学模型的复杂系统。它是一种自动控制系统，它以模糊数学、模糊语言形式的知识表示和模糊逻辑的规则推理为理论基础，采用计算机控制技术构成一种具有反馈通道的闭环结构的数学控制系统。它的核心是具有智能性的模糊控制器，这也就是它与其他控制系统的不同之处。因此它拥有了智能控制系统的优点。

[1] [2] [3] [4] [5] 下一页

matlab模糊控制倒立摆控制系统设计仿真下载如图片无法显示或论文不完整，请联系qq752018766