李志刚,吴楠

• 1:华北理工大学信息工程学院
• 2:华北理工大学电气工程学院

摘要(Abstract)：

针对多维变量的被控对象进行模糊控制时存在"规则爆炸"等问题,提出基于融合函数的T-S模糊控制器设计思想。以二级倒立摆为被控对象,运用拉格朗日方程建立数学模型;运用极点配置、函数融合等方法,并结合并行分布补偿思想(PDC)进行降维T-S模糊控制器的设计,并采用改进遗传算法进行T-S模糊控制器的鲁棒优化。仿真结果表明,所设计的基于融合函数的T-S模糊控制器可实现对二级倒立摆的控制,其控制精度、鲁棒性等都优化于极点配置的线性反馈控制器。

关键词(KeyWords)： 二级倒立摆;T-S模糊控制器;极点配置;融合函数;遗传算法;并行分布补偿

Abstract:

Keywords:

基金项目(Foundation): 河北省自然科学基金资助项目(F2013209203)~~

作者(Author): 李志刚,吴楠

DOI: 10.16652/j.issn.1004-373x.2018.21.025

参考文献(References)：

• [1]贺廉云.融合函数在模糊控制器设计中的应用[J].科技通报,2011,27(5):682-685.HE L Y. Application of the fusion function in the fuzzy controller designing[J]. Bulletin of science and technology,2011,27(5):682-685.
• [2]张卓,张井岗.跷跷板系统的模糊控制策略研究[J].太原科技大学学报,2016,37(6):447-452.ZHANG Z,ZHANG J G. A fuzzy control method for seesaw system[J]. Journal of Taiyuan University of Science and Technology,2016,37(6):447-452.
• [3]陈梅,陈艳燕.两轮智能车跟踪控制系统的研究[J].合肥工业大学学报(自然科学版),2015,38(3):319-324.CHEN M,CHEN Y Y. Study of tracking control system of twowheeled intelligent vehicle[J]. Journal of Hefei University of Technology(natural science),2015,38(3):319-324.
• [4]张碧波.基于模糊控制的三级倒立摆系统的控制器设计[D].石家庄:河北科技大学,2015:21-38.ZHANG B B. Design of controller on triple inverted pendulum system based on fuzzy control[D]. Shijiazhuang:Hebei University of Science and Technology,2015:21-38.
• [5]张敏.二级倒立摆云模型PID控制研究[D].大连:大连海事大学,2016:23-27.ZHANG M. Research on cloud model PID control of double inverted pendulum[D]. Dalian:Dalian Maritime University,2016:23-27.
• [6]邢景虎,陆华才.二级倒立摆两种控制方法的对比研究[J].佳木斯大学学报(自然科学版),2017,35(2):263-266.XING J H,LU H C. Comparative study on two control methods of the double inverted pendulum[J]. Journal of Jiamusi University(natural science edition),2017,35(2):263-266.
• [7]邢景虎,陈其工,江明.二级倒立摆基于融合函数的模糊控制[J].合肥工业大学学报(自然科学版),2011,34(8):1155-1159.XING J H,CHEN Q G,JIANG M. Fusion function based fuzzy control for a double inverted pendulum[J]. Journal of Hefei University of Technology(natural science edition),2011,34(8):1155-1159.
• [8]尹逊和,樊雪丽,杜洋,等.二级倒立摆系统的实物控制[J].计算机工程与应用,2016,52(20):242-250.YIN X H,FAN X L,DU Y,et al. Physical control of double inverted pendulum system[J]. Computer engineering and applications,2016,52(20):242-250.
• [9]李平,张重阳,陶文华,等.二级倒立摆的Sugeno型模糊神经网络控制[J].控制工程,2009,16(4):458-463.LI P,ZHANG C Y,TAO W H,et al. Sugeno fuzzy neural network control for double inverted pendulum[J]. Control engineering of China,2009,16(4):458-463.
• [10]李露,李峰,邓雄峰.二级倒立摆的参数自校正模糊PI控制[J].微型机与应用,2014,33(12):79-82.LI L,LI F,DENG X F. The parameter self-tuning fuzzy PI control of double inverted pendulum[J]. Microcomputer and its applications,2014,33(12):79-82.
• [11]宋清昆,李东威.二级倒立摆控制器设计及稳定性研究[J].计算机仿真,2015,32(4):305-309.SONG Q K,LI D W. The design and stability study of double inverted pendulum controller[J]. Computer simulation,2015,32(4):305-309.
• [12]王凯,黄玲,都磊.二级倒立摆的T-S模糊建模和模糊控制[J].控制工程,2015,7(22):47-50.WANG K,HUANG L,DU L. T-S fuzzy modeling and fuzzy control of inverted pendulum[J]. Control engineering of China,2015,7(22):47-50.
• [13]谌海云,杜振华,邹宁波,等.多种群遗传算法的倒立摆LQR控制器设计[J].控制工程,2014,21(3):90-93.CHEN H Y,DU Z H,ZOU N B,et al. LQR controller design for inverted pendulum based on multi-population genetic algorithm[J]. Control engineering of China,2014,21(3):90-93.
• [14]罗刘敏,刘晓青,谢娟娟,等.基于极点配置的倒立摆控制器设计[J].电脑知识与技术,2015,32(11):181-183.LUO L M,LIU X Q,XIE J J,et al. Design of inverted pendulum controller based on the theory of pole[J]. Computer knowledge and technology,2015,32(11):181-183.
• [15]王莹莹,王向东,王冬青.基于模糊控制算法的二级倒立摆控制器设计[J].青岛大学学报,2015,30(4):62-63.WANG Y Y,WANG X D,WANG D Q. Design of double inverted pendulum controller based on fuzzy control algorithm[J]. Journal of Qingdao University,2015,30(4):62-63.