基于動態(tài)查詢表的模糊控制策略及其應用

研究基于動態(tài)查詢表的模糊控制策略及其在轉臂式倒立擺中的應用Z 采用一種新的倒立擺系統(tǒng)的控制方法, 將傳感器檢測的倒立擺的兩個角度信息傳送到控制器, 控制器利用該信息的模糊化量按基于動態(tài)查詢表的模糊控制策略進行實時計算, 由得出的控制量控制力矩電機驅使擺桿運動, 從而使擺臂處于動態(tài)的直立狀態(tài)Z 采用C+ + 語言實現(xiàn)了對倒立擺的控制Z 實驗結果表明, 這種控制方式能夠提高系統(tǒng)的控制精度Z
關鍵詞: 模糊控制; 動態(tài)查詢表; 轉臂式倒立擺; 非線性系統(tǒng)
Abstract: A fuzzy st rategy based on dynam ic query tab le and it s app licat ion on ro tary inverted pendu lum are studied. A new m ethod is u sed to con t ro l the system of inverted pendu lum. W ith th is m ethod, two angles of the inverted pendu lum exam ined by an angu lar sen so r are t ran sm it ted to a con t ro ller. In the con t ro ller, u sing the fuzzy values of the two angles to calcu late the real2 t im e based on the dynam ic query tab le, the ou tpu t is u sed to con t ro l the to rque mo to r w h ich drives the inverted pendu lum. A s a resu lt of th is the inverted pendu lum is kep t in dynam ic up2 righ t state. U sing the C+ + language, test s have show n that th is is an effect ive m ethod in the con t ro l of an inverted pendu lum system , and can imp rove the accu racy of ro tary inverted pendu2 lum system s.
Key words: fuzzy con t ro l; dynam ic query tab le; ro tary inverted pendu lum; non linear system