柔性倒立摆的自适应模糊控制.docVIP

摘 要 倒立摆系统是一个高阶、非线性、强耦合的绝对不稳定系统，它是检验各种控制理论与方法的有效工具。研究倒立摆的精确控制对工业生产中复杂对象的控制有着重要的价值，因此倒立摆仿真或实物控制实验是控制领域中用来检验某种控制理论或方法的典型方案。 本文以直线一级柔性倒立摆为研究对象，首先基于拉格朗日方程建立了系统的数学模型，并对其性能进行分析。为了实现对单级柔性倒立摆非线性不稳定系统的稳定控制，本文采用Sugeno模糊模型将其处理成多个局部线性模型的模糊逼近，并进行了模糊自适应控制器的设计。通过Simulink对倒立摆系统进行了系统控制效果的分析，结果表明：此模型实现了对单级柔性倒立摆的稳定控制，并且具有结构简单、稳定性和快速性等优点。本文的研究结论对于其它非线性不稳定系统的控制供了参考途径。 关键词：柔性倒立摆 自适应模糊控制 Sugeno模型 Simulink仿真 拉格朗日方程  ABSTRACT The Inverted pendulum system is a higher-order, nonlinear, strongly coupled and absolutely instable system. It is an effective tool for validating control theories and methods. Research on precise control of the inverted pendulum has great value for control problems of complicated plant in industrial process, as a result, the inverted pendulum simulation and physical experiments are representative project for verifying a certain control theory or approach in the fields of control science and technology. The paper takes the linear 1-stage flexible-joint inverted pendulum as a research object. At first, it establishes the model of the inverted pendulum system based on the Lagrange equation and analyzes its performance. A fuzzy controller is established to carry out the stabilizing control for non-linear unsteady system of single flexible invert pendulum and the adaptive fuzzy controller is designed to certificate meantime, which based on the Sugeno fuzzy control model. Simulation and analysis are carried out to investigate the system control effects by means of Simulink model. The results showed it had realized the stabilizing control successfully and simple construction, stability and fast-speed behavior advantaged characters. Further more, the result supplies an effective reference ways to control other non-linear unstable systems. Keyword: flexible-joint inverted pendulum Adaptive fuzzy control Sugeno fuzzy control model Simulink Simulation Lagrange equation  目 录 第一