一阶倒立摆双闭环模糊控制.docVIP

摘要 本文讨论基于鲁棒性设计的一阶倒立摆双闭环控制问题。以摆角为内环.以小车位置为外环利用鲁棒孔子系统理论进行模糊控制器设计及参数整定，使控制系统对于确定系统参数的变化具有较强的鲁棒性。倒立摆系统的高阶次、不稳定、多变量、非线性和强耦合等特性使得许多现代控制理论的研究人员一直将它视为研究对象。论文首先介绍了模糊系统的理论基础，和模糊控制器的分析和设计，充分的理解了倒立摆智能控制系统研究与设计所需要的理论知识。然后通过对倒立摆系统的分析建模，采用模糊推理系统，设计相应的模糊控制器，对倒立摆进行控制，最后将控制过程在MATLAB上加以仿真。在MATLAB仿真中，应用模糊逻辑工具箱来设计模糊逻辑控制器，然后通来建立模糊系统，最后得到仿真结果。This article discusses the question of inverted pendulum double loop control that based on robust design. Take the pivot angle as the inner ring , the car position as the outer ring, Carries on the fuzzy controller design and the parameter installation by use robust control system theory, enable the control system to have strong robustness that determine changes in system parameters. As the inverted pendulum system is unstable,multivariable, nonlinear and strongly coupling and so on, many modern control theory researchers regard it as the object of study. The thesis introduced the Fuzzy systems theory ,the analysis and design of fuzzy controller , understand the theory knowledge that needed in study of intelligent control system of inverted pendulum . Then use fuzzy inference system and design corresponding fuzzy controller to control Inverted pendulum by making model of analysis of the inverted pndulum system.Finally,simulate the control processing in MATLAB.The simulation in MATLAB,design Fuzzy logic controller by applicating fuzzy logic toolbox,then set up fuzzy systems by use Simulink and at last obtained simulation results. Key word: Inverted pendulum, fuzzy control, double closed loop fuzzy controller, MATLAB simulation. 目录 第一章 绪论 4 1.1倒立摆系统稳定性研究 4 1.1.1 倒立摆系统稳定性研究的意义 4 1.1.2 倒立摆研究的发展状况 5 1．2 模糊控制的研究现状 6 1．2．1模糊控制理论的产生 6 1．2．2模糊控制的数学基础 7 1．2．3模糊控制的研究现状 8 1．2．4模糊控制理论的发展前景 9 1．3 论文主要工作 10 第二章：单支点倒立摆系统数学模型的建立及系统分析 11 2.1建模机理 11 2.2系统建模 11 2.3 模型简化 13 第三章：模糊控制的基本原理 16 3.1 模糊集合与隶属函数 16 3.2 模糊逻辑操作 16 3.3 模糊规则与模糊推理 17 3.4 模糊推理系统 17 第四章：一阶倒立摆系统的双闭环模糊控制器的设计与仿真 19 4.1 一阶倒