摘要
采用模糊控制算法实现倒立摆的倒立平衡控制,当系统受到随机干扰时,其输出会有较大超调,摆杆存在抖动现象.为了实现系统的精确控制,得到被控对象的真实状态,消除动态噪声和量测噪声对系统带来的抖动影响,提高响应的平稳性.设计了计算量小、实时性好于Kalman滤波器的次优滤波器,从而实现倒立摆的快速平稳控制.
The balance control of inverted pendulum adopts fuzzy control arithmetic. There exists dithering phenomenon and system output exists biggish overshoot when the system is disturbed by stochastic disturbance. To realize system exact control, get actual states of controlled device, eliminate the dithering influence caused by dynamic noise and measure noise, enhance smoothness of response, this paper designs a sub-optimal filter, which has less numeration and much better real-time response better than kalman, and thus realizes the fast and steady con- trol of inverted pendulum.
出处
《吉首大学学报（自然科学版）》
CAS
2008年第6期69-72,共4页
Journal of Jishou University(Natural Sciences Edition)
关键词
倒立摆
随机干扰
次优滤波
模糊控制
inverted pendulum
stochastic disturbance
sub-optimal filter
fuzzy control
作者简介
李晓梅（1983-），女，黑龙江齐齐哈尔人，西安建筑科技大学硕士研究生，主要从事工业过程控制及网络控制研究。
